MIMO Uncertain Nonlinear System Control via Adaptive High-Order Super Twisting Sliding Mode and its Application to Robotic Manipulator

Goel, Ankur; Swarup, Akhilesh

doi:10.1007/s40313-016-0286-7

Cited by 26 publications

(36 citation statements)

References 31 publications

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“…Addressing this challenge, various adaptive techniques based on SMCs/HOSMCs have been developed for both SISO and MIMO nonlinear uncertain systems. [11,25,[36][37][38][39][40] More specifically, keeping the nonoverestimation of sliding gains in HOSMs and at the same time decreasing the chattering effect, an adaptive scheme is proposed to adjust online these gains in. [41][42][43][44] The proposed adaptive gain ST control [41,42] has the ability to generate continuous control so that the controller gains are adapted to the unknown bounded uncertainties without gain overestimation.…”

Section: Literature Reviewmentioning

confidence: 99%

“…In order to design smooth control while achieving finite-time convergence, decoupling control based on TSMC and HOSM algorithms including ST control (STC) has been investigated. By using the continuous homogeneous sliding mode controller introduced in, [30] tracking control of a robot manipulator in the presence of uncertainties and disturbances is presented in, [38] where the proposed adaptive STC blended with an homogeneous sliding manifold provides continuous and finitetime convergent control. In, [40] a robust adaptive STC combined with global nonlinear sliding mode is designed for tracking control of n-link rigid robotic manipulators with external disturbances.…”

Section: Literature Reviewmentioning

confidence: 99%

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Adaptive high‐order sliding mode controller‐observer for MIMO uncertain nonlinear systems

Hendel

Khaber

Essounbouli

2019

Asian Journal of Control

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In this paper, an adaptive high-order sliding mode controller-observer is proposed for multi input-multi output uncertain systems with application to robotic manipulators. Firstly, a type-2 Takagi-Sugeno fuzzy system is used to model the original system. Next, with the unavailability of velocity measurement, a fuzzy high-order sliding mode observer is designed to estimate both the joint velocities and uncertainties. Moreover, based on a super twisting second-order sliding mode, the proposed robust controller generates smooth control and guarantees finite-time convergence to the third-order sliding set with respect to the sliding variable by keeping second-order sliding mode constraint. The controller gains are generated based on an adaptive estimation scheme without overestimation. The finite-time stability of the suggested controller is proved by using an homogeneous and strict Lyapunov function. Finally, the obtained simulation results for two-link robot manipulators demonstrate the effectiveness of the proposed controller.

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Section: Literature Reviewmentioning

confidence: 99%

Section: Literature Reviewmentioning

confidence: 99%

Adaptive high‐order sliding mode controller‐observer for MIMO uncertain nonlinear systems

Hendel

Khaber

Essounbouli

2019

Asian Journal of Control

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“…Most of the researches use the powerful optimization tools of the linear matrix (LMI) to ensure and guarantee appropriate conditions for the closed-loop system stability (Zhang and Yang 2018;Wang et al 2019;Zhang et al 2019). Extensive researches have been developed for observerbased decentralized control on the connected systems (Goel and Swarup 2017;Fateh and Fateh 2020;Ranjbar et al 2020;and Yu 2020). Goel and Swarup (2017) state that a robust super-twisting sliding mode controller for a multiinput-multi-output system has been provided.…”

Section: Introductionmentioning

confidence: 99%

“…Extensive researches have been developed for observerbased decentralized control on the connected systems (Goel and Swarup 2017;Fateh and Fateh 2020;Ranjbar et al 2020;and Yu 2020). Goel and Swarup (2017) state that a robust super-twisting sliding mode controller for a multiinput-multi-output system has been provided. The proposed controller gains are selected, using an adaptive estimation mechanism to tackle the gain overestimation problem.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Observer-Based Decentralized Sliding Mode Control for Connected Systems in the Presence of Unknown Interconnection and Bounded Disturbance

Ranjbar

Noiey

Rezaie

2020

J Control Autom Electr Syst

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In this manuscript, the control problem for a class of connected systems with unknown interconnections in the presence of distributed disturbance is studied. For this purpose, an adaptive observer-based decentralized sliding mode controller is proposed to provide the stability of the closed-loop system. In this approach, the connection matrix between subsystems is also assumed unknown, and therefore the dependency to the knowledge of connections is reduced. Due to the lack of availability of most states, a combination of the Luenberger observer and the sliding mode controller is proposed. The observer is to estimate the unmeasurable states, observing the disturbance effects, and thereby facilitating determination of the control law in an adaptive scheme. Furthermore, the effects of unknown interconnections between subsystems are estimated using adaptive laws, to find equivalent of interconnections among subsystems. To control and stabilize the overall system, a decentralized sliding mode controller is designed to stabilize the original system using the estimated disturbance and states. To analyze the stability, based on the proposed observer, direct method of Lyapunov is proposed together with the LMI technique. The stability of system and convergence of the estimation error of each subsystem to zero is guaranteed. The observer-based method is finally applied into two numerical examples to verify the significance of the proposed approach.

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“…-NITSM = eq + STW AST -NITSM = (q)q d + (q,̇q)q + G(q) ) + ∫ sgn(S)dt �Next, to guard against disturbances and uncertainties with unknown range, and are estimated as[50,51]:…”

mentioning

confidence: 99%

Fault-tolerant control based on adaptive super-twisting nonsingular integral-type terminal sliding mode for a delta parallel robot

Mazare

Taghizadeh

Ghaf-Ghanbari

2020

J Braz. Soc. Mech. Sci. Eng.

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External disturbances, internal uncertainties and actuator faults with an unknown range have detrimental effects on controller performance of industrial robots. In this paper, to deal with such challenges, a new fault-tolerant control (FTC) strategy using a combination of nonsingular integral-type terminal sliding mode (NITSM) and adaptive high-order super-twisting (AST) control is proposed for a delta-type parallel robot. To eliminate the chattering of sliding mode controller as a key ingredient of excessive energy consumption and convergence rate reduction, high-order algorithm is applied. Stability analysis of the closed-loop system is performed using Lyapunov theory. Moreover, to achieve optimal performance, controller parameters are obtained using harmony search algorithm (HSA) by minimizing an objective function consisting of integral time absolute error (ITAE) and control signal rate. The proposed controller performance is compared with conventional sliding mode and feedback linearization control methods. The obtained results reveal the superiority of the proposed AST-NITSM.

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MIMO Uncertain Nonlinear System Control via Adaptive High-Order Super Twisting Sliding Mode and its Application to Robotic Manipulator

Cited by 26 publications

References 31 publications

Adaptive high‐order sliding mode controller‐observer for MIMO uncertain nonlinear systems

Adaptive high‐order sliding mode controller‐observer for MIMO uncertain nonlinear systems

Adaptive Observer-Based Decentralized Sliding Mode Control for Connected Systems in the Presence of Unknown Interconnection and Bounded Disturbance

Fault-tolerant control based on adaptive super-twisting nonsingular integral-type terminal sliding mode for a delta parallel robot

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