Fractional-Order Adaptive Backstepping Control of Robotic Manipulators in the Presence of Model Uncertainties and External Disturbances

This article concerns a previously developed, Fractional-order, Generalised Predictive Control (FGPC) approach to control system design. Here, fractional order concepts are utilised to extend the design flexibility of the FGPC algorithm, in comparison to conventional Generalised Predictive Control (GPC). The performance of FGPC is investigated via Monte Carlo simulation. With a focus on plots of the closed-loop eigenvalues, these results are utilised to develop recommendations for how to optimise the extra design coefficients introduced in the fractional order case. One of the simulation examples involves a hydraulically actuated robotic manipulator. Finally, FGPC methods are applied to control airflow in a laboratory 1 m by 2 m by 2 m forced ventilation environmental test chamber.

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“…In this regard, recent applications of fractional order methods to robotics include e.g. [20] and [21].…”

Section: Robotic Manipulatormentioning

confidence: 99%

Eigenvalue Analysis and Case Study Examples of Fractional Order Generalised Predictive Control

Alarfaj

Taylor

2019

2019 25th International Conference on Automation and Computing (ICAC)

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“…The fractional‐order (FO) controller is widely used to enhance the closed‐loop performance by improving trajectory tacking, transient and steady‐state responses, and guarantees the better control performance for both integer‐order (IO) and FO systems . The FO controller has been used with prominent control techniques such as PID control, optimal control, adaptive control, SMC, etc.…”

Section: Introductionmentioning

confidence: 99%

Robust Adaptive Fractional‐Order Terminal Sliding Mode Control for Lower‐Limb Exoskeleton

Ahmed

Wang

Tian

2018

Asian Journal of Control

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This paper introduces a robust adaptive fractional-order non-singular fast terminal sliding mode control (RFO-TSM) for a lower-limb exoskeleton system subject to unknown external disturbances and uncertainties. The referred RFO-TSM is developed in consideration of the advantages of fractional-order and non-singular fast terminal sliding mode control (FONTSM): fractional-order is used to obtain good tracking performance, while the non-singular fast TSM is employed to achieve fast finite-time convergence, non-singularity and reducing chattering phenomenon in control input. In particular, an adaptive scheme is formulated with FONTSM to deal with uncertain dynamics of exoskeleton under unknown external disturbances, which makes the system robust. Moreover, an asymptotical stability analysis of the closed-loop system is validated by Lyapunov proposition, which guarantees the sliding condition. Lastly, the efficacy of the proposed method is verified through numerical simulations in comparison with advanced and classical methods.

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“…Ahn et al 31 presented an adaptive backstepping controller on a pump-controlled electrohydraulic actuator. Nikdel et al 32 designed a controller which combined fractional order, adaptive control, and backstepping control together to control the robust finite time of dynamical systems.…”

Section: Introductionmentioning

confidence: 99%

Adaptive backstepping second-order sliding mode fuzzy control for three-phase active power filter

Chen

Fei

2019

Advances in Mechanical Engineering

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Because of the heavy use of electrical equipment, harmonic pollution is becoming more and more serious, which brings potential safety risks to our lives. In view of the fact that active power filters can effectively eliminate harmonics, an adaptive second-order sliding mode fuzzy control based on the backstepping method is proposed to eliminate harmonics in this article. The second-order sliding mode control can eliminate chattering in the system and results in a smoother controller. The uncertainties in the system are approximated by a fuzzy control system, and the adaptive laws are designed to ensure the stability of the system. Backstepping control can improve the stability and robustness of closed-loop systems. Simulation results show that the proposed method has better tracking effect, strong robustness, and stability and can effectively eliminate harmonics.

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Fractional-Order Adaptive Backstepping Control of Robotic Manipulators in the Presence of Model Uncertainties and External Disturbances

Cited by 106 publications

References 24 publications

Eigenvalue Analysis and Case Study Examples of Fractional Order Generalised Predictive Control

Eigenvalue Analysis and Case Study Examples of Fractional Order Generalised Predictive Control

Robust Adaptive Fractional‐Order Terminal Sliding Mode Control for Lower‐Limb Exoskeleton

Adaptive backstepping second-order sliding mode fuzzy control for three-phase active power filter

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