Finite-time sliding surface constrained control for a robot manipulator with an unknown deadzone and disturbance

Han, Seong-Ik; Lee, Jang-Myung

doi:10.1016/j.isatra.2016.07.013

Cited by 65 publications

(15 citation statements)

References 38 publications

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“…However, if s j 0, . e j 0, and e = 0, a singularity will occur [30]. To avoid the singularity problem, the following condition can be given as:…”

Section: Terminal Sliding Mode Control With Sliding Perturbation Obsementioning

confidence: 99%

“…Due to the introduction of a non-linear sliding surface, preliminary TSMC may have a singularity problem, which makes it difficult to act on the actual mechanical application. In order to avoid the singularity problem, some methods have been developed and applied [28][29][30]. We use the method mentioned in [30] to avoid the singularity point in the TSMCSPO design.…”

Section: Introductionmentioning

confidence: 99%

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Trajectory Tracking Control of a Hydraulic System Using TSMCSPO based on Sliding Perturbation Observer

et al. 2019

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This paper proposes a new designed trajectory tracking method for a hydraulic manipulator, which is the terminal sliding mode control with sliding perturbation observer (TSMCSPO). The dynamics of the hydraulic system are complex and uncertain, it also generates a large reaction force when working as an excavator or a dismantling robot. In this paper, the new control law is designed to force the trajectory of the hydraulic system to follow the reference despite complex dynamics, modeling error, the huge reaction force, and dynamic uncertainties. The sliding perturbation observer (SPO) in TSMCSPO estimates all disturbances from the outside environment, dynamic uncertainties, and modeling errors in real time. We included a simulation and an experiment to verify the approach, and to demonstrate the performance compared with other controllers (SMCSPO, SMC, and TSMC). Stabilities of SPO and TSMCSPO were analyzed based on the Lyapunov stability theory.

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“…However, if s j 0, . e j 0, and e = 0, a singularity will occur [30]. To avoid the singularity problem, the following condition can be given as:…”

Section: Terminal Sliding Mode Control With Sliding Perturbation Obsementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Control of a Hydraulic System Using TSMCSPO based on Sliding Perturbation Observer

et al. 2019

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“…However, the simulation example model is only a single-link robot. Han and Lee [19] designed a sliding surface with position and velocity errors constrained. For robots with unknown deadzone, this method does not require additional design compensation, and the deadzone disturbance can be suppressed within the predetermined error range by adjusting the gain value only.…”

Section: State Of the Artmentioning

confidence: 99%

Simulation for Trajectory Tracking of Multi-Flexible-Link Space Robot with Deadzone

Huang¹,

Tang²,

Chen³

2018

Int. j. simul. model.

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Trajectory tracking is a key step for a free-floating space robot (FFSR) system to complete a space operation. However, the flexibility of links and deadzone in joint input torque decrease the system's trajectory tracking accuracy. The angle tracking for the multi-flexible-link FFSR was discussed to suppress the vibrations of the flexible links and prevent the influence of the deadzone. First, the dynamic equation of the FFSR system was derived. Second, the FFSR system was decomposed into the slow and fast subsystems. Then, for the slow subsystem, a robust control method based on a nominal model and a deadzone estimation compensator were proposed. For the fast subsystem, a linear quadratic regulator optimal method was used to actively suppress vibrations. Finally, experiments were carried out to verify that the FFSR is capable of effectively tracking the desired trajectory. The simulation results show the robustness of the control scheme. It effectively suppressed the vibrations as the vibration modes of the links convergent to zero. This study provides a control scheme for improving the trajectory tracking accuracy of FFSR, which is of practical importance.

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“…At present, most controllers can only achieve asymptotic convergence, and cannot guarantee convergence in a limited time. The finite-time control method has gradually gained in-depth research in recent years because of its advantages of high accuracy, fast convergence speed and strong robustness [24]. The path following control with finite-time control theory was applied to the horizontal plane tracking, and achieve good control effects [25,26].…”

Section: Introductionmentioning

confidence: 99%

Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer

Zhang

Jian

et al. 2019

Sensors

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The three-dimensional (3D) path following problem of an underactuated autonomous underwater vehicle with ocean currents disturbances is addressed in this paper. Firstly, the motion equation under the ocean currents disturbance is established, and the dynamic model of 3D tracking error is constructed based on virtual guidance method. Then, a finite-time control scheme based on super-twisting observer and command filtered backstepping technology is proposed. We adopt super-twisting observer based on finite-time theory to observe the ocean currents disturbances for improving the system robust. A command filtered backstepping is proposed to replace the differential process in the conventional backstepping method for avoiding the differential expansion problem. The filter compensation loop is designed to ensure the accuracy of the filtered signal, and the anti-integration saturation link is designed considering the influence of integral saturation. Lyapunov stability theory is used to prove the stability of the underactuated AUV. Simulation studies are conducted to show the effectiveness and robustness of the controller.

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Finite-time sliding surface constrained control for a robot manipulator with an unknown deadzone and disturbance

Cited by 65 publications

References 38 publications

Trajectory Tracking Control of a Hydraulic System Using TSMCSPO based on Sliding Perturbation Observer

Trajectory Tracking Control of a Hydraulic System Using TSMCSPO based on Sliding Perturbation Observer

Simulation for Trajectory Tracking of Multi-Flexible-Link Space Robot with Deadzone

Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer

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