Finite-time robust control of robot manipulator

Tripathy, Niladri Sekhar; Kar, Indra Narayan; Paul, Kolin

doi:10.1145/2783449.2783505

Cited by 2 publications

(2 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The error of the regulation by the mentioned controllers is presented in Fig. 15. The details of the errors are reported in Table 3.…”

Section: -3 Comparison and Validation Of Fwfr Resultsmentioning

confidence: 99%

“…The SDDRE is a nonlinear closed-loop suboptimal controller with the power of finite-time control by penalizing a terminal boundary condition [13,14]. Tripathy used the state-dependent differential Riccati equation for manipulator control [15]. There are several solution methods to the differential Riccati equation such as backward integration [16], Lyapunov-based method [17,18], and state transition matrix approach [19].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Combination of terminal sliding mode and finite-time state-dependent Riccati equation: Flapping-wing flying robot control

Nekoo

Acosta

Ollero

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

View full text Add to dashboard Cite

A novel terminal sliding mode control is introduced to control a class of nonlinear uncertain systems in finite time. Having command on the definition of the final time as an input control parameter is the goal of this work. Terminal sliding mode control is naturally a finite-time controller though the time cannot be set as input, and the convergence time is not exactly known to the user before execution of the control loop. The sliding surface of the introduced controller is equipped with a finite-time gain that finishes the control task in the desired predefined time. The gain is found by partitioning the state-dependent differential Riccati equation gain, then arranging the sub-blocks in a symmetric positive-definite structure. The state-dependent differential Riccati equation is a nonlinear optimal controller with a final boundary condition that penalizes the states at the final time. This guides the states to the desired condition by imposing extra force on the input control law. Here the gain is removed from standard state-dependent differential Riccati equation control law (partitioned and made symmetric positive-definite) and inserted into the nonlinear sliding surface to present a novel finite-time terminal sliding mode control. The stability of the proposed terminal sliding mode control is guaranteed by the definition of the adaptive gain of terminal sliding mode control, which is limited by the Lyapunov stability condition. The proposed approach was validated and compared with state-dependent differential Riccati equation and conventional terminal sliding mode control as independent controllers, applied on a van der Pol oscillator. The capability of the proposed approach of controlling complex systems was checked by simulating a flapping-wing flying robot. The flapping-wing flying robot possesses a highly nonlinear model with uncertainty and disturbance caused by flapping. The flight assumptions also limit the input law significantly. The proposed terminal sliding mode control successfully controlled the illustrative example and flapping-wing flying robot model and has been compared with state-dependent differential Riccati equation and conventional terminal sliding mode control.

show abstract

“…The error of the regulation by the mentioned controllers is presented in Fig. 15. The details of the errors are reported in Table 3.…”

Section: -3 Comparison and Validation Of Fwfr Resultsmentioning

confidence: 99%