MPC motion planning‐based sliding mode control for underactuated WPS vehicle via Olfati transformation

Yue, Ming; An, Cong; Ding, Liang; Zhou, Yafu

doi:10.1049/iet-cta.2017.0298

Cited by 12 publications

(7 citation statements)

References 38 publications

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“…SMC makes full use of the model of the object. 220 But its requirements for the model are very low, that is, no precise model of the object is needed. As long as the upper bounds of the parameters and disturbance uncertainty in the model are known, a progressively stable controller could be designed.…”

Section: Partial Feedback Linearizationmentioning

confidence: 99%

Underactuated robotics: A review

Wang

Liu

2019

International Journal of Advanced Robotic Systems

137

102

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Underactuated robotics is an emerging research direction in the field of robotics. The control input of the underactuated robot is less than the degree of freedom of the system. It has the advantages of lightweight, low energy consumption, excellent performance, and broad development prospects. This article reviews the state of the art on underactuated robotics. On the basis of previous studies, this article takes the non-holonomic constraint equation as the entry point to classify and summarize underactuated robot and their common mechanisms. The controllability of underactuated robot is further discussed. The control flow of underactuated robot is described based on the open-closed control method. In the closed-loop control, the control method based on the fuzzy system is mainly used. Finally, the difficulties in the current research of underactuated robot are summarized, and the future research directions are prospected.

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Section: Partial Feedback Linearizationmentioning

confidence: 99%

Underactuated robotics: A review

Wang

Liu

2019

International Journal of Advanced Robotic Systems

137

102

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“…Another way to solve this problem is to employ the decoupling algorithm proposed by Olfati-Saber [16][17]. This algorithm also applies in different underactuated systems such as wheeled pendular-like systems (WPS) vehicle [28] and inertial wheel inverted pendulum [29]. To decouple these system inputs, we let 2 =̇ Thus, the equation ( 5) can be written as:…”

Section: Decoupling Inputmentioning

confidence: 99%

“…We use new variables 1 , 2 , 3 , 4 and by following global coordinate transformation in [28], we define…”

Section: Decoupling Inputmentioning

confidence: 99%

Design of an Adaptive Super-Twisting Control for the Cart-Pole Inverted Pendulum System

Rizal

Wahyu

Noor

et al. 2021

Jurnal Ilmiah Teknik Elektro Komputer Dan Informatika

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A cart-pole inverted pendulum system is one of the underactuated systems that has been used in many applications. This research aims to study the design and the effectiveness of the Adaptive Super-Twisting controller to stabilize the system by comparing it with other previous control methods. A stabilization control of the pendulum upright using the Adaptive Super-Twisting algorithm (ASTA), was investigated. The proposed controller was designed based on the decoupling algorithm method to solve the coupled control input in the system model. We then compared the proposed stabilizing controller with first-order sliding mode control (FOSMC) and Super-Twisting algorithm (STA) in Matlab/Simulink simulation and realistic computer simulation. We developed the computer simulation using anyKode Marilou software, which adopted Open-Dynamic Engine (ODE) as a physics engine. In Matlab/Simulink simulation, we considered three different scenarios: a nominal system, a system with uncertainty, and a disturbed system. Meanwhile, in a computer simulation, we only presented the comparison of different controllers' performances for the realized system. Both results showed that the three controllers could stabilize the pendulum upright with 0.1 rad initial angular position around the vertical axis. Under the same conditions, the ASTA and STA controllers had similar performances; they both have less chattering and faster convergence than the FOSMC approach. However, the FOSMC approach had the least energy delivered and smallest errors than the other two approaches.

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“…It is well‐known that the major advantage of sliding mode control (SMC) is insensitive to model uncertainties and external disturbances. Plentiful results on SMC have been reported in the existing significant work, and SMC has been exploited its applications in lots of practical systems such as underactuated WPS vehicle [9], permanent‐magnet synchronous motor [10, 11], higher‐order Lipschitz non‐linear multi‐agent systems [12] etc. Among these results, there exists a common issue, namely the chattering phenomena.…”

Section: Introductionmentioning

confidence: 99%

Modified fuzzy neural network control using sliding mode technique for power quality improvement system with experimental verification

Hou

Chu

Fei

2020

IET Control Theory & Appl

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This study mainly focuses on the development of a second-order sliding mode-based meta-cognitive fuzzy neural network (MCFNN) control for power quality improvement, whereby an MCFNN is employed to learn modelling uncertainties. First, a second-order sliding mode control (SOSMC) is designed to track reference current for active power filter. Then, an MCFNN system with accurate approximation capability is further investigated to learn the unknown parts in SOSMC. Different from the existing predefined structure approaches, only necessary data can be extracted to adjust the structure and parameters of the networks in MCFNN. Subsequently, the Lyapunov stability analysis is presented to guarantee tracking performance and stability of the closed-loop system. Moreover, the excellent performance of the proposed MCFNN scheme is verified by simulation and experimental studies, and its remarkable characteristics are exhibited in comparison with other intelligent control schemes.

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MPC motion planning‐based sliding mode control for underactuated WPS vehicle via Olfati transformation

Cited by 12 publications

References 38 publications

Underactuated robotics: A review

Underactuated robotics: A review

Design of an Adaptive Super-Twisting Control for the Cart-Pole Inverted Pendulum System

Modified fuzzy neural network control using sliding mode technique for power quality improvement system with experimental verification

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