Robust Composite High-Order Super-Twisting Sliding Mode Control of Robot Manipulators

TayebiHaghighi, Shahnaz; Piltan, Farzin; Kim, Jong‐Myon

doi:10.3390/robotics7010013

Cited by 50 publications

(42 citation statements)

References 45 publications

(89 reference statements)

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“…This algorithm based on the theory of variable structure systems. However, this algorithm was proposed by Utkin et al, in 1999 [27]. The STSM algorithm maintains the advantages of the traditional SMC techniques.…”

Section: Description Of the Stsm Algorithmmentioning

confidence: 99%

DPC Based on ANFIS Super-Twisting Sliding Mode Algorithm of a Doubly-Fed Induction Generator for Wind Energy System

Benbouhenni¹,

Boudjema²,

Belaïdi³

2020

JESA

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Conventional direct power control (DPC) using two hysteresis comparators and switching table for a doubly fed induction generator (DFIG) integrated in a wind turbine system (WTS) have some drawbacks such as harmonic distortion of voltages, reduced robustness and powers ripples. In order to resolve these problems, a super-twisting sliding mode control (STSMC) scheme based on adaptive-network-based fuzzy inference system (ANFIS) algorithm is employed. The validity of the employed approach was tested by using Matlab/Simulink software. Interesting simulation results were obtained and remarkable advantages of the proposed strategy were exposed including simple design of the control system, reduced powers ripples as well as the other advantages.

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Section: Description Of the Stsm Algorithmmentioning

confidence: 99%

DPC Based on ANFIS Super-Twisting Sliding Mode Algorithm of a Doubly-Fed Induction Generator for Wind Energy System

Benbouhenni¹,

Boudjema²,

Belaïdi³

2020

JESA

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“…This article, beyond casualty of principle to consider backward throws. In forward throws, scheduling technique submitted could be presented [20,21] which is reformulated and analyzed in a following section. If = 0 Eq.…”

Section: Robotic Handling Of Circular Object On Platementioning

confidence: 99%

Decentralized Control of Cooperative Robotics System Using Neural Networks for the Purpose of an Object Balancing Flat Plate Tasks

Jaisumroum¹,

Chotiprayanakul²,

Sriseubsai³

2020

IJIES

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In this article, the manipulation to handle the object on a plate using neural networks, design of 1-DOF robot arm under cooperative control, will be explained. The robot's system specifies the object position and velocity, an assignment oriented components for cooperative control. The novelty of this experiment is that under the decentralized control, the robot estimates the position and speed of the object for control end-effector of robot arm using the camera to track position and speed of the object according to training and assigned collaborative tasks which differ from other experiments that use sensors. The experiment includes three robot manipulators which were capable balancing the objects on flat plate with dataset to training and control servo motor assigned to the corresponding position and the end-effector in decentralized to control robotics. Overall, neural network method can be a training scheme using a cooperative robotics in a decentralized control.

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“…Super-twisting does not use information about this can be seen as an advantage. It consists of two parts, a discontinuous part and a continuous part u 1 [29,31]. .…”

Section: Algorithm Of Super-twistingmentioning

confidence: 99%

“…By a particular choice of the model and the sliding surface, the super-twisting sliding mode control algorithm, can be formulated as an observation algorithm for the estimation of the derivative of a signal measured [31,32].…”

Section: Algorithm Of Super-twistingmentioning

confidence: 99%

Super-twisting Sliding Mode Control of a Doubly-fed Induction Generator Based on the SVM Strategy

Yaichi

Semmah

Wira

et al. 2019

Period. Polytech. Elec. Eng. Comp. Sci.

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This paper presents direct power control (DPC) strategies using the super-twisting sliding mode control (STSMC) applied to active and reactive power control of a doubly-fed induction generator (DFIG) supplied by a space vector modulation inverter for wind turbine system. Then, a control STSMC-DPC and SVM strategies are applied. The active and reactive powers that are generated by the DFIG will be decoupled by the orientation of the stator flux and controlled by super-twisting sliding mode control. Its simulated performance is then compared with conventional sliding mode control. The test of robustness of the controllers against machine parameters uncertainty will be tackled, and the simulations will be presented. Simulation results of the proposed controller (SMC-DPC) and (STSMC-DPC) scheme are compared for various step changes in the active and reactive power. This approach super-twisting sliding mode control is validated using the Matlab/Simulink software and the results of the simulation can prove the excellent performance of this control in terms of improving the quality of the energy supplied to the electricity grid.

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Robust Composite High-Order Super-Twisting Sliding Mode Control of Robot Manipulators

Cited by 50 publications

References 45 publications

DPC Based on ANFIS Super-Twisting Sliding Mode Algorithm of a Doubly-Fed Induction Generator for Wind Energy System

DPC Based on ANFIS Super-Twisting Sliding Mode Algorithm of a Doubly-Fed Induction Generator for Wind Energy System

Decentralized Control of Cooperative Robotics System Using Neural Networks for the Purpose of an Object Balancing Flat Plate Tasks

Super-twisting Sliding Mode Control of a Doubly-fed Induction Generator Based on the SVM Strategy

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