Adaptive time delay control for cable-driven manipulators using fuzzy logic algorithm

Yan, Fei; Wang, Yaoyao; Feng, Jian; Chen, Bai; Wu, Hongtao

doi:10.1177/0959651820959164

Cited by 4 publications

(5 citation statements)

References 44 publications

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“…The main idea behind TDE is to estimate unknown dynamics and disturbances by using time-delayed information. 12,17 Re-writing the model equation ( 1) as…”

Section: Tdementioning

confidence: 99%

“…NTSMC-based TDE has been discussed in previous works. 11,12,22,23,39 Numerous sliding surfaces have been proposed in the literature 19,34,40 such as…”

Section: Tdementioning

confidence: 99%

“…[1][2][3] Robotic manipulators are now an integral part of automation where their performance relies on the associated control law. 4 Despite several research works reporting linear methods [5][6][7] as well as nonlinear approaches [8][9][10][11][12] to control a robotic manipulator, it is still an open research problem in the scientific community. It is reported that modern control techniques based on nonlinear control laws offer superior performance compared to linear and classical approaches.…”

Section: Introductionmentioning

confidence: 99%

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Extended grey wolf optimization–based adaptive fast nonsingular terminal sliding mode control of a robotic manipulator

Rezoug

Iqbal

Tadjine

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article proposes a novel hybrid metaheuristic technique based on nonsingular terminal sliding mode controller, time delay estimation method, an extended grey wolf optimization algorithm and adaptive super twisting control law. The fast convergence is assured by nonsingular terminal sliding mode controller owing to its inherent nonlinear property and no prior knowledge of the robot dynamics is required due to time delay estimation. The proposed extended grey wolf optimization algorithm determines an optimal approximation of the inertial matrix of the robot. Moreover, adaptive super twisting control based on the Lyapunov approach overcomes the disturbances and compensate the higher dynamics not achievable by the time delay estimation method. First, the fast nonsingular terminal sliding mode controller relying on time delay estimation is designed and is combined with super twisting control for chattering attenuation. The constant gain matrix of the time delay is determined by the proposed extended grey wolf optimization algorithm. Second, an adaptive law based on Lyapunov stability theorem is designed for improving tracking performance in the presence of uncertainties and disturbances. The novelty of the proposed method lies in the adaptive law where the prior knowledge of parametric uncertainties and disturbances is not needed. Moreover, the constant gain matrix of time delay estimation method is obtained using the proposed algorithm. The control method has been tested in simulation on a 3-degrees of freedom robotic manipulator in trajectory tracking mode in the presence of control disturbances and uncertainties. The results obtained confirmed the effectiveness, robustness and the superior precision of the proposed control method compared to the classical ones.

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“…The main idea behind TDE is to estimate unknown dynamics and disturbances by using time-delayed information. 12,17 Re-writing the model equation ( 1) as…”

Section: Tdementioning

confidence: 99%

“…NTSMC-based TDE has been discussed in previous works. 11,12,22,23,39 Numerous sliding surfaces have been proposed in the literature 19,34,40 such as…”

Section: Tdementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Extended grey wolf optimization–based adaptive fast nonsingular terminal sliding mode control of a robotic manipulator

Rezoug

Iqbal

Tadjine

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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show abstract

“…How to design an appropriate robust controller is still a research hotspot. For this reason, many scholars have designed some robust control schemes to accurately control the nonlinear system, such as sliding mode control (SMC), 1−12 neuron control, 13,14 fuzzy control, 15,16 and time delay control schemes. 17−21 SMC is an important branch of control theory.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fractional-order Non-singular Fast Terminal Sliding Mode Control Based on Fixed Time Observer

Shi

Zhang

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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Aiming at the problem of low tracking accuracy of the manipulator in the presence of model parameter errors and external disturbance, this paper proposes an adaptive fractional-order nonsingular fast terminal sliding mode (AFONFTSM) controller based on a fixed-time disturbance observer (FTDO). The controller is split into three portions. First, a fractional-order nonsingular fast terminal sliding mode (FONFTSM) surface is designed to improve the tracking accuracy and convergence speed of the error state. Secondly, to enhance the performance of the system state in the approaching mode, an adaptive variable exponential power reaching law (AVEPRL) is designed, which changes the coefficient of the exponential term through the size of the system state. Meanwhile, adaptive control is used to modulate one item of the reaching law, which improves the anti-interference of the system. In the end, the real-time estimation of the external disturbance is carried out by the FTDO, which solves the problem that the magnitude of the external disturbance is difficult to be determined in the actual engineering. And the stability is verified by the Lyapunov theory. The simulation results display that the controller raised in this paper has better tracking precision, faster convergence speed, and stronger robustness.

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“…These systems have been used in several fields e.g. soft robotics [2], drug delivery [3], multi-agent systems [4], vibration [5], wheeled mobile robot [6], soccer dynamics [7], electromagnetic problems [8], piezoelectric actuators [9], hydraulic servo [10], cable-driven manipulators [11], and power grid [12].…”

Section: Introductionmentioning

confidence: 99%

Stabilizing Unstable Periodic Orbit of Unknown Fractional-Order Systems via Adaptive Delayed Feedback Control

Yaghooti¹,

Safavigerdini²,

Hajiloo³

et al. 2022

Preprint

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This paper presents an adaptive nonlinear delayed feedback control scheme for stabilizing the UPO of unknown fractional-order chaotic systems. The proposed control scheme uses the Lyapunov approach and sliding mode control technique to ensure that the closed-loop control system is asymptotically stable on a periodic trajectory sufficiently close to the UPO of the fractional-order chaotic system. It is guaranteed that the closed-loop system will be robust to external disturbances with unknowable bounds. Finally, the proposed method is used to stabilize the UPO of the fractional-order Duffing and Gyro systems, and extensive simulation results are used to evaluate its performance.

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Adaptive time delay control for cable-driven manipulators using fuzzy logic algorithm

Cited by 4 publications

References 44 publications

Extended grey wolf optimization–based adaptive fast nonsingular terminal sliding mode control of a robotic manipulator

Extended grey wolf optimization–based adaptive fast nonsingular terminal sliding mode control of a robotic manipulator

Adaptive Fractional-order Non-singular Fast Terminal Sliding Mode Control Based on Fixed Time Observer

Stabilizing Unstable Periodic Orbit of Unknown Fractional-Order Systems via Adaptive Delayed Feedback Control

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