Fixed‐time adaptive sliding mode trajectory tracking control of uncertain mechanical systems

Sun, Liang; Liu, Yuanji

doi:10.1002/asjc.2109

Cited by 19 publications

(14 citation statements)

References 47 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The simulation is mainly about the fixed-time reachability and chattering performance. Some current SMC methods [41,45] for robot are selected as comparison control methods, the SMC scheme in ref. [41] used the saturation function to reduce chattering of controller, but the fixed-time SMC cannot guarantee fixed-time stability in unknown initial error.…”

Section: Simulation and Analysis Of Tracking Controlmentioning

confidence: 99%

“…Some current SMC methods [41,45] for robot are selected as comparison control methods, the SMC scheme in ref. [41] used the saturation function to reduce chattering of controller, but the fixed-time SMC cannot guarantee fixed-time stability in unknown initial error. The novel super-twisting SMC method in ref.…”

Section: Simulation and Analysis Of Tracking Controlmentioning

confidence: 99%

“…8, the comparison controllers and the proposed controller have a similar actual control accuracy. Line a denotes the proposed controller, line b denotes the super-twisting SMC [45], and line c denotes the saturation-function-based SMC [41].…”

Section: Simulation and Analysis Of Tracking Controlmentioning

confidence: 99%

See 2 more Smart Citations

Trajectory planning and low-chattering fixed-time nonsingular terminal sliding mode control for a dual-arm free-floating space robot

et al. 2021

View full text Add to dashboard Cite

This paper addresses fixed-time trajectory tracking for a dual-arm free-floating space robot (FFSR) with the large initial errors and bounded uncertainty. A wrist-based trajectory planning method is improved by fixed-time stability to fast eliminate the error caused by singularity. Then, a novel low-chattering and global-nonsingular fixed-time terminal sliding mode control strategy is studied by state approaching angle and switching sliding mode; the practical fixed-reachable Lyapunov stability analysis is presented for a mechanical control system. In the end, the proposed trajectory planning method and controller are combined to improve the tracking accuracy of end-effector to the nanoscale. Simulation results validate the effectiveness of the proposed methodologies.

show abstract

Section: Simulation and Analysis Of Tracking Controlmentioning

confidence: 99%

Section: Simulation and Analysis Of Tracking Controlmentioning

confidence: 99%

See 1 more Smart Citation

Trajectory planning and low-chattering fixed-time nonsingular terminal sliding mode control for a dual-arm free-floating space robot

et al. 2021

View full text Add to dashboard Cite

show abstract

“…In order to get rid of the constraints of the initial state and further improve the convergence performance of the closed loop system within the finite time, the fixed-time stability extended from the finite-time stability [9] was developed in recent years, and many theoretical results [11] [10] and practical applications [12] [13] have been made. On the basis of previous studies [6], the finite-time convergence is further improved to the fixed time convergence in [14], with effectively reducing the convergence time of tracking errors. In [15], a new cascade control structure, based on a fixed-time distributed observer, was developed to achieve the fixed-time consensus tracking control.…”

Section: Introductionmentioning

confidence: 99%

Reinforcement Learning-Based Fixed-Time Trajectory Tracking Control for Uncertain Robotic Manipulators With Input Saturation

Cao

Sun

Jiang

et al. 2023

IEEE Trans. Neural Netw. Learning Syst.

Self Cite

View full text Add to dashboard Cite

A fixed-time trajectory tracking control method for uncertain robotic manipulators with input saturation based on reinforcement learning (RL) is studied. The designed reinforcement learning control algorithm is implemented by radial basis function (RBF) neural network, in which the actor neural network is used to generate the control strategy and the critic neural network is used to evaluate the execution cost. A new non-singular fast terminal sliding mode technique is used to ensure the convergence of tracking error in fixed time, and the upper bound of convergence time is estimated. To solve the saturation problem of an actuator, a nonlinear anti-windup compensator is designed to compensate for the saturation effect of the joint torque actuator in real time. Finally, the stability of the closed-loop system based on Lyapunov candidate is analyzed, and the timing convergence of the closed-loop system is proved. Simulation and experimental results show the effectiveness and superiority of the proposed control law.

show abstract

“…Polyakov has also provided a fixed-time secondorder SMC for a linear system in [28]. A fixed-time adaptive SMC for uncertain mechanical systems has been proposed in [29]. Zuo [30] and Corradini et al [31] have proposed their own nonsingular fixed-time terminal sliding mode controls (NFTSMCs) for nonlinear systems, respectively.…”

Section: Introductionmentioning

confidence: 99%

Time-Dependent Global Nonsingular Fixed-Time Terminal Sliding Mode Control-Based Speed Tracking of Permanent Magnet Synchronous Motor

Wang

2020

IEEE Access

View full text Add to dashboard Cite

This paper studies global nonsingular fixed-time terminal sliding mode control (GNFTSMC) for a second-order uncertain permanent magnet synchronous motor (PMSM) system to further improve its speed tracking performance. The newly proposed GNFTSMC consists of a time-dependent terminal sliding surface and a piecewise continuous sliding mode control law. By a time-dependent function constructed from the initial conditions of the system and a predefined time, the sliding surface is always reached at the initial instant and forced to a traditional fast terminal sliding surface after the predefined time. Based on Filippov's stability principles, the globally fixed-time stability of the GNFTSMC is proved. Furthermore, a priori time independent of the initial conditions is derived to estimate the boundary of the settling time of the closed control loop. Then, the control law is analyzed to be always nonsingular. Thus, the GNFTSMC-based speed controller for the PMSM speed tracking system is developed. Finally, simulations are conducted for the proposed controller and other terminal sliding mode controllers. The results show that compared to the other controllers, the PMSM system based on GNFTSMC displays improved performance characteristics of faster speed response, smaller chattering and higher current efficiency. INDEX TERMS fixed time, global sliding mode, permanent magnet synchronous motor, sliding mode control, terminal sliding mode

show abstract

Fixed‐time adaptive sliding mode trajectory tracking control of uncertain mechanical systems

Cited by 19 publications

References 47 publications

Trajectory planning and low-chattering fixed-time nonsingular terminal sliding mode control for a dual-arm free-floating space robot

Trajectory planning and low-chattering fixed-time nonsingular terminal sliding mode control for a dual-arm free-floating space robot

Reinforcement Learning-Based Fixed-Time Trajectory Tracking Control for Uncertain Robotic Manipulators With Input Saturation

Time-Dependent Global Nonsingular Fixed-Time Terminal Sliding Mode Control-Based Speed Tracking of Permanent Magnet Synchronous Motor

Contact Info

Product

Resources

About