Mathematical modelling and control of a nonholonomic spherical robot on a variable-slope inclined plane using terminal sliding mode control

Roozegar, M.; Ayati, Moosa; Mahjoob, M. J.

doi:10.1007/s11071-017-3705-9

Cited by 23 publications

(16 citation statements)

References 37 publications

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“…However, this kind of robot results in a nonlinear system with non-holonomic dynamics, which means that the dimensions of the state space model are more than the number of control inputs. This condition makes the tracking control of this robot difficult in real applications [8,9].…”

Section: Introductionmentioning

confidence: 99%

“…Kayacan et al [15] have introduced another SMC with an online learning algorithm for spherical rolling robots. In one recent study, Rozegar et al [8] have investigated the control and motion of a spherical robot on an inclined plane. They have proposed a terminal sliding mode control (TSMC) to maintain and control the robot on a variable slope.…”

Section: Introductionmentioning

confidence: 99%

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Recurrent Neural Network-Based Robust Nonsingular Sliding Mode Control With Input Saturation for a Non-Holonomic Spherical Robot

et al. 2020

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We develop a new robust control scheme for a non-holonomic spherical robot. To this end, the mathematical model of a pendulum driven non-holonomic spherical robot is first presented. Then, a recurrent neural network-based robust nonsingular sliding mode control is proposed for stabilization and tracking control of the system. The designed recurrent neural network is applied to approximate compound disturbances, including external interferences and dynamic uncertainties. Moreover, the controller is designed in a way that avoids the singularity problem in the system. Another advantage of the proposed scheme is its ability for tracking control while there exists control input saturation, which is a serious concern in robotic systems. Based on the Lyapunov theorem, the stability of the closed-loop system has also been confirmed. Lastly, the performance of the proposed control technique for the uncertain system in the presence of an external disturbance, unknown input saturation, and dynamic uncertainties has been investigated. Also, the proposed controller has been compared with a Fuzzy-PID one. Simulation results show the effectiveness and superiority of the developed control technique.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Recurrent Neural Network-Based Robust Nonsingular Sliding Mode Control With Input Saturation for a Non-Holonomic Spherical Robot

et al. 2020

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“…On the other hand, the researchers have applied various techniques in order to improve the precision of measuring the dimensions of micro/nano-structures such as the robust, adaptive and fuzzy controllers (Vagia and Tzes, 2008; Vatankhah and Asemani, 2017; Vatankhah et al, 2015). The sliding mode controller (SMC), as the most popular robust controller, is applied to decrease the error of complex nonlinear systems with model uncertainty (Aliakbari et al, 2013; Ayati and Salmasi, 2015; Rahmani, 2018; Rahnavard et al 2019; Rajaei et al, 2019b; Roozegar et al, 2017) Yau et al (2011) have been investigated the stabilization of an uncertain micro-electro-mechanical system by utilizing a fuzzy sliding mode control design. A frequency-independent approximation and a sliding mode control scheme have been proposed for a system of a micro-cantilever beam by Vagia (2012).…”

Section: Introductionmentioning

confidence: 99%

Stabilization of nonlinear vibrations of carbon nanotubes using observer-based terminal sliding mode control

Yousefpour

Vahidi-Moghaddam

Rajaei

et al. 2019

Transactions of the Institute of Measurement and Control

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This article is concerned with suppression of nonlinear forced vibration of a single-wall carbon nanotube conveying fluid based on the nonlocal elasticity theory and Euler–Bernoulli beam theory. Electrostatic actuation is considered as the control force for the suppression of carbon nanotube. Based on Galerkin approach, the governing nonlinear partial differential equation is reduced to an ordinary one. Since the sliding mode controller (SMC) does not assures finite time system stabilization and also causes chattering in the control input and consequently vibration in the system, terminal sliding mode controller (TSMC) is developed for the stabilization of carbon nanotube based on a disturbance observer. TSMC and disturbance observer suppress the vibrations of nanotube in the presence of external disturbances caused by the internal flow. Numerical simulation results are presented to illustrate the effectiveness and performance of the proposed control scheme in comparison to similar approaches. Simulation results show that the proposed control method successfully stabilizes the uncertain system in a finite time.

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“…Terminal sliding modes were first investigated as controllers . For an uncertain second‐order system a terminal sliding mode controller (TSMC) scheme was developed in .…”

Section: Introductionmentioning

confidence: 99%

“…Yu and Zhihong proposed a “Fast TSMC”, where optimization of TSMC parameters for a SISO system was investigated . In a TSMC is designed for a nonlinear spherical robot with uncertainties and disturbances using a terminal disturbance observer.…”

Section: Introductionmentioning

confidence: 99%

Terminal sliding mode observers for uncertain linear systems with matched disturbance

Mousavi

Rahnavard

Ayati

et al. 2018

Asian Journal of Control

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In this paper, a terminal sliding mode observer (TSMO) for systems with general state-space representation is proposed. The effects of uncertainties and matched disturbances are incorporated in the system dynamics. Compared to conventional sliding mode observers, which are capable of finite time convergence of the measured states' (outputs) errors and asymptotic convergence of unmeasured states' errors, the proposed TSMO guarantees finite time convergence of all states. Three appropriate Lyapunov functions are defined for proving robust and finite time convergence of all state estimation errors of the TSMO. In addition, to highlight the effectiveness of the methodology, the developed TSMO is applied to a well-known realistic wind turbine model. Results confirm that the proposed TSMO estimates all the states in finite time with good accuracy.

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Mathematical modelling and control of a nonholonomic spherical robot on a variable-slope inclined plane using terminal sliding mode control

Cited by 23 publications

References 37 publications

Recurrent Neural Network-Based Robust Nonsingular Sliding Mode Control With Input Saturation for a Non-Holonomic Spherical Robot

Recurrent Neural Network-Based Robust Nonsingular Sliding Mode Control With Input Saturation for a Non-Holonomic Spherical Robot

Stabilization of nonlinear vibrations of carbon nanotubes using observer-based terminal sliding mode control

Terminal sliding mode observers for uncertain linear systems with matched disturbance

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