Robust Super-Twisting Sliding Control of PAM- actuated Manipulator Based on Perturbation Observer

Falah, Alaq; Humaidi, Amjad J.; Al-Dujaili, Ayad Q.; Ibraheem, Ibraheem Kasim

doi:10.1080/23311916.2020.1858393

Cited by 9 publications

(6 citation statements)

References 32 publications

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“…ESOs have been widely employed in many sophisticated uncertain systems, such as spacecraft structure systems (Yang et al, 2014), permanent magnet synchronous motor (PMSM) servo systems (Liu & Li, 2012), hypersonic vehicles, and multi-agent systems (Yang et al, 2015). Because of their good estimating properties and capacity to adjust, other structures of observers exist in addition to ESOs, such as the unknown input observer (UIO), disturbance observer (DOB), and perturbation observer (POB), adaptive observer, and sliding mode observer (Hameed et al, 2019, Hassan et al, 2020, Falah et al, 2020, Djamel & Mefoud, 2019.…”

Section: Introductionmentioning

confidence: 99%

Active Disturbance Rejection Control of Wearable Lower-Limb System Based on Reduced ESO

Alawad

Humaidi

Al-Obaidi

et al. 2022

Indonesian J. Sci. Technol

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Wearable robots are commonly used for rehabilitation and they are made to fit the human body to assist persons who are unable to help themselves. The design of controllers became necessary to enhance the dynamic motion of these exoskeleton systems when worn by patients. In this study, active disturbance rejection control (ADRC) with reduced-order extended state observer (RESO) has been proposed for motion control of exoskeleton knee-assisting device to eliminate the phase lag induced by full-order extended state observer (FESO). The design analysis of RESO-based ADRC has been presented and a computer simulation has been conducted to verify the effectiveness of the proposed controller. A comparison study has been made between ADRC based on RESO and that based on FESO in terms of transient and robustness characteristics. The simulated results showed that the RESO-based ADRC gives better transient and load rejection capabilities compared to the controller with FESO.

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Section: Introductionmentioning

confidence: 99%

Active Disturbance Rejection Control of Wearable Lower-Limb System Based on Reduced ESO

Alawad

Humaidi

Al-Obaidi

et al. 2022

Indonesian J. Sci. Technol

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“…The switching part of control signal is responsible for driving states trajectory to equilibrium point by maintaining the dynamics of the system onto the sliding surface. 26,27 In the control action of the SMC, there is undesired phenomena known as chattering, which is caused by the high frequency oscillation of the sliding variable around the sliding surface, and it is one problem in using sliding mode technique. 27 The backstepping control procedure depends on the concept of simplifying the complex nonlinear system by decomposing it into lower orders subsystems.…”

Section: Introductionmentioning

confidence: 99%

“…26,27 In the control action of the SMC, there is undesired phenomena known as chattering, which is caused by the high frequency oscillation of the sliding variable around the sliding surface, and it is one problem in using sliding mode technique. 27 The backstepping control procedure depends on the concept of simplifying the complex nonlinear system by decomposing it into lower orders subsystems. 28,29 This is based on the fact that in each equation of the system mathematical model and subsystem, one of the coordinates acts as a virtual, and this coordinate has to appear in an affine way in each equation.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive backstepping sliding mode control design for vibration suppression of earth-quaked building supported by magneto-rheological damper

Humaidi¹,

Sadiq²,

Abdulkareem³

et al. 2021

Journal of Low Frequency Noise, Vibration and Active Control

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In this study, the design of adaptive backstepping sliding mode control (ABSMC) has been developed for vibration suppression of earth-quaked building supported by magneto-rheological (MR) damper. The control and adaptive laws developed based on ABSMC methodology has been established according to stability analysis based on Lyupunov theorem. A Single degree of freedom (SDOF) building system has been considered and the earthquake acceleration data used in performance analysis of the proposed controller is based on El Centro Imperial Valley Earthquake. The ABSMC has been compared to classical sliding mode control in terms of vibration suppression in the controlled system subjected to earthquake. The performance of proposed controller has been assessed via computer simulation, which showed its effectiveness to stabilize the building against earthquake vibration and the boundness of estimated stiffness and viscosity coefficients.

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“…This study can be extended for future work if other control schemes are included to control the ball and beam system and to conduct comparison study in performance with the present control technique. One may use the following modern control methodologies for this purpose such as active disturbance control, super-twisting sliding mode control, projection adaptive sliding mode control, Interval type-2 Fuzzy logic control, etc [38][39][40][41][42][43][44][45][46][47].…”

mentioning

confidence: 99%

Adaptive backstepping control design for ball and beam system

Al-Dujaili

Humaidi

Pereira

et al. 2021

IRASE

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Ball and Beam system is one of the most popular and important laboratory models for teaching control systems. This paper proposes a new control strategy to the position control for the ball and beam system. Firstly, a nonlinear controller is proposed based on the backstepping approach. Secondly, in order to adapt online the dynamic control law, adaptive laws are developed to estimate the uncertain parameters. The stability of the proposed adaptive backstepping controller is proved based on the Lyapunov theorem. Simulated results are presented to illustrate the performance of the proposed approach.

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Robust Super-Twisting Sliding Control of PAM- actuated Manipulator Based on Perturbation Observer

Cited by 9 publications

References 32 publications

Active Disturbance Rejection Control of Wearable Lower-Limb System Based on Reduced ESO

Active Disturbance Rejection Control of Wearable Lower-Limb System Based on Reduced ESO

Adaptive backstepping sliding mode control design for vibration suppression of earth-quaked building supported by magneto-rheological damper

Adaptive backstepping control design for ball and beam system

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