Notice of Removal: A Disturbance Observer Based Sliding Mode Control for a Class of Underactuated Robotic System With Mismatched Uncertainties

Huang, Jian; Ri, Songhyok; Fukuda, Toshio; Wang, Yongji

doi:10.1109/tac.2018.2868026

Cited by 181 publications

(114 citation statements)

References 24 publications

Supporting

Mentioning

104

Contrasting

Order By: Relevance

“…In this section, an adaptive backstepping fault tolerant controller will be proposed for an uncertain fractional nonlinear system with unknown actuator faults based on the designed DO . The following change of coordinates is required.…”

Section: Adaptive Ftc Design Based On Fodomentioning

confidence: 99%

“…A robust FTC scheme for fractional‐order systems is proposed using backstepping with dynamic surface control in References and . Motivated by the concept of disturbance observer (DO), this paper aims at developing a fractional‐order adaptive backstepping fault control algorithm to solve the output tracking problem for a class of nonlinear fractional‐order systems with actuator faults. The unknown actuator faults are considered as internal disturbances.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Adaptive fault tolerant control for a class of uncertain fractional‐order systems based on disturbance observer

Hou

Wang

2020

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

In this paper, a class of fractional-order nonlinear systems are considered in the presence of actuator faults. A novel fault tolerant control scheme based on disturbance observer has been presented, where the actuator faults are considered as the system disturbance and can be approximated by the proposed disturbance observer. The developed fault tolerant control guarantees the convergence of the closed-loop system and the output tracking performance. Finally, a simulation example is presented to verify the effectiveness of the new method. K E Y W O R D Sadaptive control, disturbance observer, fault tolerant control, fractional-order system INTRODUCTIONSince actuator fault is inevitable in modern control systems, which may degrade system performance, or even lead to system instability, compensation of actuator faults has significant impact on some critical physical systems. Adaptive fault tolerant control (FTC) has been shown as a desirable tool to this problem and remarkable progress have been made in the area. 1-8 Guang-Hong Yang proposes an adaptive output feedback control to deal with unknown nonaffine nonlinear faults for a class of nonlinear systems. 1 Salman Ijaz studies an active fault tolerant control (FTC) scheme for aircraft with dissimilar redundant actuation system in Reference 2. In Reference 3, fault-tolerant tracking control problem for a class of strict-feedback nonlinear systems subjected to actuator faults and external disturbances is investigated. Due to the global approximation performance of fuzzy logic system and neural networks, the authors in References 4-9 successfully solved the problem by introducing adaptive fuzzy logic control or adaptive neural networks control. Over the past decades, fractional-order systems 10,11 have attracted considerable attention due to the ability of describing long memory and hereditary characteristic of complex phenomenon in some practical systems. It can describe some systems more accurately than the traditional integer order method and has been widely applied in fields in engineering and physics, such as system biology, physics, chemistry, automatic control, materials science, engineering, etc. More and more fractional order systems have been studied, especially in tracking control performance and stability analysis. 12-18 Y. Wei et al. propose a variety of methods for the stabilization of fractional order systems. 12,14,15 Sufficient and necessary conditions for stabilizing singular fractional order systems are given in Reference 16. For a class of continuous-time fractional positive systems, stabilization control is addressed based on disturbance observer in Reference 17. The Lyapunov stability theory is extended to fractional-order nonlinear systems in References 13 and 18 and, where the concept of Lyapunov stability is defined and Lyapunov design method is proposed. As we all know, actuator or sensor faults may also occur in fractional-order systems due to poor working conditions, mechanical fatigue, and other factors. Consequently, how to detect and ...

show abstract

Section: Adaptive Ftc Design Based On Fodomentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive fault tolerant control for a class of uncertain fractional‐order systems based on disturbance observer

Hou

Wang

2020

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

show abstract

“…, N = C pid T QD pid1 , K P ∈ m×n , and K I ∈ m×p . To design the controller gain K consisting of K P and K I , we temporarily do not take the perturbation estimatord g (x, t) and the control law u(t) into consideration in (22) and (23). Both thed g (x, t) and u(t) will be discussed based on the final-value theorem in detail.…”

Section: Remarkmentioning

confidence: 99%

“…Suppressing disturbance is the main target of SMC, but it cannot eliminate disturbance completely. Some researches utilize the disturbance estimators to overcome external disturbance [20,21]; the papers develop SMC to integrate with the disturbance estimator for the controlled system with undesired disturbance [22][23][24][25]. The authors of [25] propose the observer-based SMC for the controlled system with external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Design of Robust Trackers and Unknown Nonlinear Perturbation Estimators for a Class of Nonlinear Systems: HTRDNA Algorithm for Tracker Optimization

et al. 2019

View full text Add to dashboard Cite

A robust linear quadratic analog tracker (LQAT) consisting of proportional-integral-derivative (PID) controller, sliding mode control (SMC), and perturbation estimator is proposed for a class of nonlinear systems with unknown nonlinear perturbation and direct feed-through term. Since the derivative type (D-type) controller is very sensitive to the state varying, a new D-type controller design algorithm is developed to avoid an unreasonable large value of the controller gain. Moreover, the boundary of D-type controller is discussed. To cope with the unknown perturbation effect, SMC is utilized. Based on the fast response of SMC controlled systems, the proposed perturbation estimator can estimate unknown nonlinear perturbation and improve the tracking performance. Furthermore, in order to tune the PID controller gains in the designed tracker, the nonlinear perturbation is eliminated by the SMC-based perturbation estimator first, then a hybrid Taguchi real coded DNA (HTRDNA) algorithm is newly proposed for the PID controller optimization. Compared with traditional DNA, a new HTRDNA is developed to improve the convergence performance and effectiveness. Numerical simulations are given to demonstrate the performance of the proposed method.

show abstract

“…The chattering can also be reduced by combining the disturbance observer (DO) and the SMC [12][13][14]. Huang has successfully designed a systematic method of a high-order disturbance observer-based sliding mode control for a class of underactuated robotic systems [15]. The estimation of the disturbance can be used as a feed-forward compensation to the controller such that the switching gain of SMC is only required to be designed greater than the bound of the disturbance estimation error.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Super-Twisting Control for Mobile Wheeled Inverted Pendulum Systems

2019

Self Cite

View full text Add to dashboard Cite

Recently, the mobile wheeled inverted pendulum (MWIP) has gained an increasing interest in the field of robotics due to traffic and environmental protection problems. However, the MWIP system is characterized by its nonlinearity, underactuation, time-varying parameters, and natural instability, which make its modeling and control challenging. Traditionally, sliding mode control is a typical method for such systems, but it has the main shortcoming of a "chattering" phenomenon. To solve this problem, a super-twisting algorithm (STA)-based controller is proposed for the self-balancing and velocity tracking control of the MWIP system. Since the STA is essentially a second-order sliding mode control, it not only contains the merits of sliding mode control (SMC) in dealing with the uncertainties and disturbances but can also be effective in chattering elimination. Based on the STA, we develop an adaptive gain that helps to learn the upper bound of the disturbance by applying an adaptive law, called an adaptive super-twisting control algorithm (ASTA). The stability of the closed-loop system is ensured according to the Lyapunov theorem. Both nominal experiments and experiments with uncertainties are conducted to verify the superior performance of the proposed method.

show abstract

Notice of Removal: A Disturbance Observer Based Sliding Mode Control for a Class of Underactuated Robotic System With Mismatched Uncertainties

Cited by 181 publications

References 24 publications

Adaptive fault tolerant control for a class of uncertain fractional‐order systems based on disturbance observer

Adaptive fault tolerant control for a class of uncertain fractional‐order systems based on disturbance observer

Design of Robust Trackers and Unknown Nonlinear Perturbation Estimators for a Class of Nonlinear Systems: HTRDNA Algorithm for Tracker Optimization

Adaptive Super-Twisting Control for Mobile Wheeled Inverted Pendulum Systems

Contact Info

Product

Resources

About