Continuous PID Sliding Mode Control Based on Neural Third Order Sliding Mode Observer for Robotic Manipulators

Nguyen, Van-Cuong; Vo, Anh Tuan; Kang, Hee-Jun

doi:10.1007/978-3-030-26766-7_16

Cited by 11 publications

(17 citation statements)

References 23 publications

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“…Theorem 1: Consider the class of second-order uncertain nonlinear systems given by (1), if the NFTSM control input is designed as (16)(17)(18), then the origin of the sliding function (15) is globally finite-time stable equilibrium point and the sliding function (15) will converge to zero in finite time defined by T r = ŝ(0) µ .…”

Section: B Design Of Controllermentioning

confidence: 99%

“…We can see that the estimation of the lumped uncertainties term, γ 3 sign(x 1 ), which is obtained from the TOSM observer (4), contains in the equivalent control signal (17). Accordingly, in the switching control law, only a small value of sliding gain, , is selected to compensate the effects of the lumped uncertainties' estimation errors, d (x,x, u, t).…”

Section: Proofmentioning

confidence: 99%

“…To deal with the lumped uncertainties, numerous control strategies have been proposed by researchers, such as PID control [4], [5], adaptive control [6]- [8], fuzzy logic control [9], [10], neural network control [11], [12], and sliding mode control (SMC) [13]- [17], etc. Among them, sliding mode control (SMC) has been widely used in controlling uncertain system by many researchers because of its attractive properties such as fast dynamic response, robustness against the lumped uncertainties and a quite simple design procedure.…”

Section: Introductionmentioning

confidence: 99%

“…As a result, the chattering phenomenon will be reduced depending on the precision of the estimation method. In the literature, various model-based techniques have been developed to estimate the lumped uncertainties such as time delay estimation (TDE) [29], [31], neural network (NN) observer [32], [33], second-order sliding mode (SOSM) observer [34]- [37], third-order sliding mode (TOSM) observer [17], [34], [38]- [40]. Among them, the TDE technique can only provide the ability to estimate unknown inputs; therefore, an additional observer is needed to estimate the system velocities [29].…”

Section: Introductionmentioning

confidence: 99%

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A Non-Singular Fast Terminal Sliding Mode Control Based on Third-Order Sliding Mode Observer for a Class of Second-Order Uncertain Nonlinear Systems and its Application to Robot Manipulators

Nguyen

2020

IEEE Access

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This paper proposes a controller-observer strategy for a class of second-order uncertain nonlinear systems with only available position measurement. The third-order sliding mode observer is first introduced to estimate both velocities and the lumped uncertain terms of system with high accuracy, less chattering, and finite time convergency of estimation errors. Then, the proposed controller-observer strategy is designed based on non-singular fast terminal sliding mode sliding control and proposed observer. Thanks to this combination, the proposed strategy has some superior properties such as high tracking accuracy, chattering phenomenon reduction, robustness against the effects of the lumped uncertain terms, velocity measurement elimination, finite time convergence, and faster reaching sliding motion. Especially, two period times, before and after the convergence of the velocity estimation takes place, are considered. The finite time stability of proposed controller-observer method is proved by using the Lyapunov stability theory. Final, the proposed strategy is applied to robot manipulator system and its effectiveness is verified by simulation results, in which a PUMA560 robot manipulator is employed. INDEX TERMS Uncertain nonlinear systems, non-singular fast terminal sliding mode control, third-order sliding mode observer, controller-observer strategy, uncertainty compensation, robot manipulators.

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Section: B Design Of Controllermentioning

confidence: 99%

Section: Proofmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Non-Singular Fast Terminal Sliding Mode Control Based on Third-Order Sliding Mode Observer for a Class of Second-Order Uncertain Nonlinear Systems and its Application to Robot Manipulators

Nguyen

2020

IEEE Access

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“…In Fig. 9, the proposed FT-OFC is compared to a third-order sliding mode controller (TOSMC) [22] in terms of the tracking error and control efforts.…”

Section: Fig 5 Time Evolutions Of State Variables Of the Closed-loopmentioning

confidence: 99%

Chattering‐free robust finite‐time output feedback control scheme for a class of uncertain non‐linear systems

Razmjooei

Shafiei

Palli

et al. 2020

IET Control Theory & Appl

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In this study, an innovative technique to design an observer-based finite-time output feedback controller (FT-OFC) is proposed for a class of non-linear systems. This controller aims to make the state variables converge to a small bound around the origin in a finite time. The main innovation of this study is to transform the non-linear system into a new time-varying form to achieve the finite-time boundedness criteria using the asymptotic stability methods. Moreover, without any prior knowledge of the upper bounds of the system uncertainties and/or disturbances, and only based on the output measurements, a novel timevarying extended state observer is designed to estimate the states of the non-linear system as well as the uncertainties and disturbances in a finite time. In this way, the time-varying gains of the extended state observer are designed to converge the observation error to a neighbourhood of zero while remaining uniformly bounded in finite time. Subsequently, an observer-based time-varying control law is designed to make the system globally uniformly bounded in finite time. Finally, the efficiency of the proposed FT-OFC for a disturbed double integrator system with unknown measurement noise is illustrated by numerical simulations.

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A new approach to design a finite‐time extended state observer: Uncertain robotic manipulators application

Razmjooei

Shafiei

2020

Intl J Robust & Nonlinear

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In this article, a new approach to design a finite‐time extended state observer (FT‐ESO) for a class of uncertain nonlinear systems is proposed based on a novel coordinate transformation. First, a time‐varying extended state observer (ESO) is designed to make the estimation error uniformly bounded. In this regard, the dynamic of the estimation error is transformed into a linear system with a generalized disturbance term as its input. Then, the time‐varying gains of the ESO are designed to stabilize the system and consequently, to converge the estimation error to the neighborhood of zero and to remain uniformly bounded as t → t0 + T. In this article, without any knowledge about the disturbance, and uncertainties, a fault‐tolerant FT‐ESO is designed. Simulation results demonstrate the effectiveness of the proposed finite‐time ESO for serial robotic manipulators with any number of links, in the presence of disturbances and an unknown fault.

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Continuous PID Sliding Mode Control Based on Neural Third Order Sliding Mode Observer for Robotic Manipulators

Cited by 11 publications

References 23 publications

A Non-Singular Fast Terminal Sliding Mode Control Based on Third-Order Sliding Mode Observer for a Class of Second-Order Uncertain Nonlinear Systems and its Application to Robot Manipulators

A Non-Singular Fast Terminal Sliding Mode Control Based on Third-Order Sliding Mode Observer for a Class of Second-Order Uncertain Nonlinear Systems and its Application to Robot Manipulators

Chattering‐free robust finite‐time output feedback control scheme for a class of uncertain non‐linear systems

A new approach to design a finite‐time extended state observer: Uncertain robotic manipulators application

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