Fast Terminal Sliding Control Application for Second-order Underactuated Systems

Abstract

In this paper, we propose a robust and finite-time control method, based on the terminal sliding mode (TSM), for a class of two-degree-of-freedom (2-DOF) underactuated electromechanical systems subject to bounded uncertainties and disturbances. First, the proposed Fast Terminal Sliding Mode (FTSM) method is presented. Then for the underactuated system control, hierarchical sliding surfaces are defined, consisting of two layers. In the first layer, separate FTSM sliding functions are selected for each state of the system. In the second layer, the system sliding manifold is a linear combination of the first layer sliding surfaces. A control law is derived and stability conditions of the nonlinear system are obtained by using the Lyapunov theory. To verify the effectiveness of our proposed method, the developed control technique is applied to control both the swinging load and the cart position of an underactuated gantry crane. Extensive simulation and real-time experiments demonstrate enhanced performance of the system and robustness against parametric variations in comparison to conventional TSM and sliding mode control.

Swing reduction for double‐pendulum three‐dimensional overhead cranes using energy‐analysis‐based control method

“…Jaafar et al proposed a strategy based on model reference command shaping in Reference 24. This control strategy does not need to measure or estimate system parameters, and can successfully achieve the control objectives of trolley positioning and swing angles suppression Singh et al proposed a fast terminal sliding mode control strategy in Reference 25. By designing the layered sliding surface and considering the finite time, the control law is derived.…”

A novel hierarchical nonlinear proportional-integral fast terminal sliding mode control for PMSM drives

“…A fast terminal sliding mode (FTSM) control strategy was first proposed by Yu and Man 22 Because of its superior performance, the FTSM control strategy has been widely used in permanent magnet in-wheel motor, 23 nonlinear uncertain mass-spring system, 24 gantry cranes, 25 second-order underactuated systems, 26 and so on. In the conventional approach, the hierarchical SM control strategy was motivated to eliminate the chattering of the conventional SM control strategy.…”

Neural Network-based Robust Anti-sway Control of an Industrial Crane Subjected to Hoisting Dynamics and Uncertain Hydrodynamic Forces

“…To address this issue, several effective control strategies have been developed for different structures and dynamics. These strategies can be categorized into open-loop control methods [1][2][3][4][5][6][7] and closed-loop control methods [8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23][24][25][26]. In particular, the well-developed open-loop control methods are input shaping-based approaches [1][2][3][4][5], which achieve simultaneous positioning control and swing elimination using linearized dynamics.…”

“…In contrast, feedback controllers have been developed to enhance the robustness of the control system while ensuring satisfactory performance in swing elimination. Several types of modern control meth- ods, such as delayed feedback control [8], adaptive nonlinear control [9][10][11][12], boundary control [13,14], sliding mode control [15][16][17][18][19][20][21][22][23], and intelligent control [24][25][26] are included in this category. Although the aforementioned methods for crane systems are effective, their direct application to the control problem of transporting underwater objects is inadvisable due to the complex sway motions, which are distinct from the dynamic behavior in air.…”