Development of a novel dynamic friction model and precise tracking control using adaptive back-stepping sliding mode controller

Choi, Jin-Ah; Han, Seong-Ik; Kim, Jong Shik

doi:10.1016/j.mechatronics.2005.10.004

Cited by 44 publications

(20 citation statements)

References 11 publications

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“…However, adaptive backstepping control alone is not robust to non-parametric uncertainties. In order to take advantage of robustness property of VSC and recursive design of Lyapunov based adaptive backstepping control, some researchers have proposed to combine these two design methods [13][14][15]. This hybrid method has started to be applied to some research areas from missile and robotic systems to aerospace vehicles and industrial machines in simulation or experiment [16][17][18][19][20][21].…”

Section: Introductionmentioning

confidence: 99%

Dynamical adaptive integral backstepping variable structure controller design for uncertain systems and experimental application

Çoban

2017

Intl J Robust & Nonlinear

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Summary In this study, a dynamical adaptive integral backstepping variable structure control (DAIBVSC) system based on the Lyapunov stability theorem is proposed for the trajectory tracking control of a nonlinear uncertain mechatronic system with disturbances. In this control scheme, no prior knowledge is required on the uncertain parameters and disturbances because it is estimated by two types of dynamical adaptive laws. These adaptive laws are integrated into the dynamical adaptive integral backstepping control and variable structure control (VSC) parts of the DAIBVSC. The dynamical adaptive law in the dynamical adaptive integral backstepping control part updates parametric uncertainties, while the other in the VSC part adapts upper bounds of non‐parametric uncertainties and disturbances. In order to achieve a more robust output tracking and better parameter adaptation, the control system is extended by one integrator and sliding surface is augmented by an integral action. Experimental evaluation of the DAIBVSC is conducted with respect to performance and robustness to parametric uncertainties. Experimental results of the DAIBVSC are compared with those of a traditional VSC. The proposed DAIBVSC exhibits satisfactory output tracking performance, good estimation of the uncertain parameters and can reject disturbances with a chattering free control law. Copyright © 2017 John Wiley & Sons, Ltd.

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Section: Introductionmentioning

confidence: 99%

Dynamical adaptive integral backstepping variable structure controller design for uncertain systems and experimental application

Çoban

2017

Intl J Robust & Nonlinear

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“…A backstepping control provides guaranteed global or regional regulations and tracking properties and avoids the unnecessary cancellation of useful nonlinearities, unlike the feedback linearization technique. It also provides a systematic procedure for designing a stabilizing controller for a nonlinear system by following a step-by-step recursive algorithm [14,15]. However, this control undergoes the complex term of the controller because of the repeated differentiations of virtual control functions in recursive design procedures.…”

Section: Introductionmentioning

confidence: 99%

Recurrent fuzzy neural network backstepping control for the prescribed output tracking performance of nonlinear dynamic systems

Han

Lee

2014

ISA Transactions

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“…Swevers et al [6] employed an eddy-current proximity sensor for a joint of a KUKA IR 361 robot. Choi et al [15] used an encoder with a relatively low reso lution (4 x 104 counts per rotation) for a ball-screw system, but their results show that it was sufficient to measure the presliding displacement of their system.…”

Section: Introductionmentioning

confidence: 99%

Friction Compensation of Geared Actuators With High Presliding Stiffness

Aung

Kikuuwe

Yamamoto

2014

Journal of Dynamic Systems, Measurement, and Control

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Most o f existing friction compensation techniques are based on friction models that uses the velocity as its input. These methods are difficult to apply to inexpensive encoderbased actuator systems that do not exhibit sufficiently large presliding displacement. This paper presents a new method of friction compensation that can be applied to geared actuators with high presliding stiffness. The compensator consists of three components that compensate: (a) static friction, (b) rate-dependent kinetic friction, and (c) dynamic friction involving presliding viscoelasticity. The first component employs dither-like tor que command, and the other two are based on friction models involving precalibrated pa rameters. The proposed method is validated through experiments employing a harmonic drive transmission. In particular, it is suggested that the dither-like static friction com pensation and the viscosity in the presliding model significantly improve the performance o f the compensator.

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Development of a novel dynamic friction model and precise tracking control using adaptive back-stepping sliding mode controller

Cited by 44 publications

References 11 publications

Dynamical adaptive integral backstepping variable structure controller design for uncertain systems and experimental application

Dynamical adaptive integral backstepping variable structure controller design for uncertain systems and experimental application

Recurrent fuzzy neural network backstepping control for the prescribed output tracking performance of nonlinear dynamic systems

Friction Compensation of Geared Actuators With High Presliding Stiffness

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