Observer‐based adaptive second‐order non‐singular fast terminal sliding mode controller for robotic manipulators

Liu, Haitao; Sun, Jian; Nie, Jianhao; Zou, Lanping

doi:10.1002/asjc.2369

Cited by 22 publications

(23 citation statements)

References 38 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In order to prove the system stability we have introduced the following lemma consider the LM model in (5) under the proposed controller (9) with iteration learning term in (10), then a zero asymptotic convergence of the tracking error (6) will be achieved. Select the following candidate Lyapunov function.…”

Section: System Stability and Convergence Analysismentioning

confidence: 99%

“…An effective and powerful classical nonlinear controller was found in the literature to preserve the system stability in the presence of disturbances and uncertainties namely sliding mode controller (SMC). Owing to its robustness and fast convergence against system uncertainties and disturbances, SMC has been broadly utilized in several industrial applications such as robotic hand [10], quadrotor unmanned aerial vehicle (UAV)…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A tracking control design for linear motor using robust sliding mode learning control

Al-nasrawi

Al-Ghanimi

Mashkor

2022

IJPEDS

View full text Add to dashboard Cite

<div id="i4c-draggable-container" style="position: fixed; z-index: 1499; width: 0px; height: 0px;"><div class="resolved" style="all: initial;" data-reactroot=""> </div></div><p>In this paper, a tracking robust sliding mode learning control (SMLC) is proposed for a linear motor (LM) system. The proposed controller approach, SMLC, can guarantee a zero tracking error in the absence and presence of system uncertainties of the LM system. Unlike other classical sliding mode control (CSMC), the proposed control system is designed without any prior knowledge of the system perturbation which would facilitate control design and simplify its practical applications. To this end, a recursive learning technique is used which simultaneously adapted based on the previous information of the closed loop system stability. The system stability and convergence analysis are rigorously proved in the sense of the Lybenouve criteria. Finally, simulations results are presented to demonstrate the validity and effectiveness of the SMLC over the CSMC in terms of tracking performance and chattering alleviation.</p>

show abstract

Section: System Stability and Convergence Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A tracking control design for linear motor using robust sliding mode learning control

Al-nasrawi

Al-Ghanimi

Mashkor

2022

IJPEDS

View full text Add to dashboard Cite

show abstract

“…η +Ĝ η (η). The SMC based control design suffers from the chattering phenomenon, which leads to a drop in the AUV control performance [93]. Ref.…”

Section: η +D η (υ η)mentioning

confidence: 99%

AUV Trajectory Tracking Models and Control Strategies: A Review

2021

JMSE

View full text Add to dashboard Cite

Autonomous underwater vehicles (AUVs) have been widely used to perform underwater tasks. Due to the environmental disturbances, underactuated problems, system constraints, and system coupling, AUV trajectory tracking control is challenging. Thus, further investigation of dynamic characteristics and trajectory tracking control methods of the AUV motion system will be of great importance to improve underwater task performance. An AUV controller must be able to cope with various challenges with the underwater vehicle, adaptively update the reference model, and overcome unexpected deviations. In order to identify modeling strategies and the best control practices, this paper presents an overview of the main factors of control-oriented models and control strategies for AUVs. In modeling, two fields are considered: (i) models that come from simplifications of Fossen’s equations; and (ii) system identification models. For each category, a brief description of the control-oriented modeling strategies is given. In the control field, three relevant aspects are considered: (i) significance of AUV trajectory tracking control, (ii) control strategies; and (iii) control performance. For each aspect, the most important features are explained. Furthermore, in the aspect of control strategies, mathematical modeling study and physical experiment study are introduced in detail. Finally, with the aim of establishing the acceptability of the reported modeling and control techniques, as well as challenges that remain open, a discussion and a case study are presented. The literature review shows the development of new control-oriented models, the research in the estimation of unknown inputs, and the development of more innovative control strategies for AUV trajectory tracking systems are still open problems that must be addressed in the short term.

show abstract

“…For the chattering problem caused by SMC, a large number of effective studies have been done by a lot of experts; the boundary layer method [23], fast terminal SMC [24,25], high-order SMC [26,27], the control method based on reaching law [28,29], and so on are presented. e boundary layer function was adopted in [20], the saturation function in the boundary layer function was adopted instead of the sign function, and the system states were kept on sliding mode surfaces by setting the boundary coefficient to reduce the chattering.…”

Section: Introductionmentioning

confidence: 99%

Sliding Mode Control of Underactuated Nonlinear Systems Based on Piecewise Double Power Reaching Law

Yue

Meng

2022

Mathematical Problems in Engineering

View full text Add to dashboard Cite

A sliding mode control (SMC) strategy using novel piecewise double power reaching law (PDPRL) for a class of fourth-order nonlinear underactuated systems (USs) is proposed to realize simultaneous control of the unactuated and the actuated part. A novel PDPRL is designed in the form of a piecewise function to reduce the chattering produced by SMC. The fixed-time convergence characteristic and the existence of maximum convergence time independent of the initial value of the sliding mode surface for the PDPRL are analyzed. Considering the uncertainties of model parameters and external disturbance in the USs, a supertwisting disturbance observer (STDO) is provided to accurately estimate the disturbance in real time, and the estimated value is compensated to the controller. The underactuated inverted pendulum system is taken to verify the effectiveness of the devised strategy, and the simulation results show that the proposed strategy can reduce chattering, suppress the disturbance, and enhance the robustness of the system.

show abstract

Observer‐based adaptive second‐order non‐singular fast terminal sliding mode controller for robotic manipulators

Cited by 22 publications

References 38 publications

A tracking control design for linear motor using robust sliding mode learning control

A tracking control design for linear motor using robust sliding mode learning control

AUV Trajectory Tracking Models and Control Strategies: A Review

Sliding Mode Control of Underactuated Nonlinear Systems Based on Piecewise Double Power Reaching Law

Contact Info

Product

Resources

About