Model‐free finite‐time terminal sliding mode control with a novel adaptive sliding mode observer of uncertain robot systems

Song, Tangzhong; Fang, Lijin; Wang, Huaizhen

doi:10.1002/asjc.2542

Cited by 38 publications

(39 citation statements)

References 43 publications

(52 reference statements)

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“…In order to guarantee the performance of the tracking controller, the terminal sliding mode control (TSMC) scheme has been developed and discussed as an efficient methodology [13,14]. The TSMC approach has many properties such as robustness, higher precision, rapid response, and finite-time stable equilibrium.…”

Section: Introductionmentioning

confidence: 99%

“…The essential philosophy of TSMC is to design a terminal attractor sliding surface that guarantees finite-time convergence of the states. In the literature, TSMC has been successfully applied in various industrial fields, for example, switched reluctance motor [13], uncertain robot systems [14], etc. However, those approaches have three potential disadvantages: 1) singular problem, 2) slow convergence to the equilibrium, 3) chattering phenomenon problem, and hence limits its performance in practical applications.…”

Section: Introductionmentioning

confidence: 99%

“…1) The online non-negative adaptive mechanism (NAM) is used to estimate the uncertainties and disturbances. Hence, unlike the existing TSMC [13][14][15][16][17][18][19][20][21][22][23][24][25][26], the proposed approach does not require prior knowledge about the bounds of the complexity of external disturbances and complex uncertainties.…”

Section: Introductionmentioning

confidence: 99%

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Non-Negative Adaptive Mechanism-Based Sliding Mode Control for Parallel Manipulators with Uncertainties

Nguyen¹

2023

Computers, Materials &Amp; Continua

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In this paper, a non-negative adaptive mechanism based on an adaptive nonsingular fast terminal sliding mode control strategy is proposed to have finite time and high-speed trajectory tracking for parallel manipulators with the existence of unknown bounded complex uncertainties and external disturbances. The proposed approach is a hybrid scheme of the online non-negative adaptive mechanism, tracking differentiator, and nonsingular fast terminal sliding mode control (NFTSMC). Based on the online non-negative adaptive mechanism, the proposed control can remove the assumption that the uncertainties and disturbances must be bounded for the NFTSMC controllers. The proposed controller has several advantages such as simple structure, easy implementation, rapid response, chattering-free, high precision, robustness, singularity avoidance, and finite-time convergence. Since all control parameters are online updated via tracking differentiator and non-negative adaptive law, the tracking control performance at high-speed motions can be better in real-time requirement and disturbance rejection ability. Finally, simulation results validate the effectiveness of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Non-Negative Adaptive Mechanism-Based Sliding Mode Control for Parallel Manipulators with Uncertainties

Nguyen¹

2023

Computers, Materials &Amp; Continua

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“…In [11,12], adaptive robust controllers were introduced for high-precision tracking control problems of robots with output constraints. In [13,14], model-free finite-time terminal sliding mode control schemes of uncertain robots were discussed. In [15], a model-free high-order sliding-mode controller with a time-base generator was implemented to achieve finite-time convergence.…”

Section: Introductionmentioning

confidence: 99%

Optimization of Sliding Mode Control to Save Energy in a SCARA Robot

et al. 2021

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Sliding mode control is a robust technique that is used to overcome difficulties such as parameter variations, unmodeled dynamics, external disturbances, and payload changes in the position-tracking problem regarding robots. However, the selection of the gains in the controller could produce bigger forces than are required to move the robots, which requires spending a large amount of energy. In the literature, several approaches were used to manage these features, but some proposals are complex and require tuning the gains. In this work, a sliding mode controller was designed and optimized in order to save energy in the position-tracking problem of a two-degree-of-freedom SCARA robot. The sliding mode controller gains were optimized usinga Bat algorithm to save energy by minimizing the forces. Finally, two controllers were designed and implemented in the simulation, and as a result, adequate controller gains were found that saved energy by minimizing the forces.

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“…However, since the manipulator itself is a nonlinear system with strong coupling and parameter uncertainty, it is difficult for traditional PID controllers to achieve better tracking accuracy and speed in the presence of external disturbance. erefore, for nonlinear systems, scholars have proposed many control methods [5], time delay control method [6][7][8][9][10], sliding mode control (SMC) method [11][12][13][14][15], fuzzy control method [16,17], and backstepping control method [18]. Among them, the SMC method is a nonlinear control method.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fractional‐Order Nonsingular Fast Terminal Sliding Mode Control for Manipulators

Zhang

Shi

2021

Complexity

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When the manipulator system is subject to unknown disturbance, in order to improve the tracking accuracy of the manipulator, this paper designs a fractional-order nonsingular fast terminal sliding mode (FONFTSM) controller. The controller is divided into three parts. First of all, in order to improve the performance of the sliding stage, this paper designs a FONFTSM surface. By introducing a fractional-order operator, the convergence speed and accuracy of the system state are effectively improved. Secondly, in view of the problems of large chattering and slow convergence speed in the reaching stage, this paper designs a variable exponential power-reaching law (VEPRL), which has the ability to change the exponential coefficients according to the system state adaptively. At the same time, an adaptive law is designed to adjust the coefficients of the reaching law adaptively, which enhances the robustness of the control system. Finally, a disturbance observer is used to estimate the unknown external disturbance in real time so as to perform feedforward compensation for the control system, which effectively improves the accuracy of the manipulator control system. The stability of the manipulator control system is proved by the Lyapunov function. Simultaneously, the controller designed in this paper is compared with different controllers, which proves that the controller designed in this paper has strong robustness, high control accuracy, and fast convergence speed.

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Model‐free finite‐time terminal sliding mode control with a novel adaptive sliding mode observer of uncertain robot systems

Cited by 38 publications

References 43 publications

Non-Negative Adaptive Mechanism-Based Sliding Mode Control for Parallel Manipulators with Uncertainties

Non-Negative Adaptive Mechanism-Based Sliding Mode Control for Parallel Manipulators with Uncertainties

Optimization of Sliding Mode Control to Save Energy in a SCARA Robot

Adaptive Fractional‐Order Nonsingular Fast Terminal Sliding Mode Control for Manipulators

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