Stabilization of a Class of Nonlinear Underactuated Robotic Systems through Nonsingular Fast Terminal Sliding Mode Control

Song, Yaobin; Li, Hui; Shi, Xiaoling

doi:10.1155/2020/5426087

Cited by 4 publications

(9 citation statements)

References 41 publications

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“…Unknown system N 2 (t, q, _ q, € q) and its estimated value N2 (t, q, _ q, € q). the new transform function (16) proposed in this paper allows tracking errors exceeding the bound predefined by (13), which is attributed to unlimited domain of (16). From Figures 11 and 12, one knows that tracking errors leave the bound at 5s, but return to it after disturbances vanishing.…”

Section: Numerical Simulationsmentioning

confidence: 89%

See 1 more Smart Citation

Robust prescribed performance trajectory tracking control with improved fast nonsingular terminal sliding surface of robot manipulators

Song,

Fang,

Zhang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper investigates the high-precision model-free control of robot manipulators. To this end, a model-free robust prescribed performance controller with an improved fast nonsingular terminal sliding mode surface (IFNTSM) and unknown system dynamics estimator (USDE) has been designed. An USDE method is employed to estimate model informations and further to achieve model-free control, which can avoid complex mathematical model calculation. Compared with some other model-free control methods like time-delay control (TDC) and neural-networks control (NNC), the USED does not require acceleration signal and is easy to implement. Then the prescribed performance control (PPC) has been used to limit error trajectory, which means the error can be pre-limit in a constraint band. A new transform function (TF) is designed for PPC, it has unlimited domain and can still maintain stability although tracking error will exceed PPC boundary sometimes, but the PPC with traditional TF will crash in this case. This is a great improvement for the stability of system compared with traditional TF. An improved fast nonsingular terminal sliding mode surface (IFNTSM) with a new adaptive law is proposed to accelerate convergence rate and improve steady-state accuracy on the sliding manifold. Finally, a practical finite-time controller (PFTC) has been constructed to drive sliding variable to a set centered on zero within a finite time, which means the convergence time can be calculated depending on the initial state. The transient response time can be shorten compared with traditional asymptotic stable. Abundant simulations and experimental results also verified the effectiveness of the proposed scheme.

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Section: Numerical Simulationsmentioning

confidence: 89%

“…Transform function ( 16) is shown in Figure 2(c), and it has definition for all z i . By selecting a, b, and c appropriately, (16) would have the similar properties as ( 14) and (15) in the required range (À R, R). Furtherly, T(z i ) still has definition out of the range.…”

Section: Prescribed Performance Design and Transform Function Analysismentioning

confidence: 99%

Robust prescribed performance trajectory tracking control with improved fast nonsingular terminal sliding surface of robot manipulators

Song,

Fang,

Zhang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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show abstract

“…Underactuated control systems (Shi, Yao, Yuan, Hu, et al, 2022; Song et al, 2020) refer to control systems in which the number of system control inputs is less than the number of system degrees of freedom. The models are seen in systems, such as inverted pendulum systems (Franco et al, 2018; Jmel et al, 2020), bat systems (Mehedi et al, 2019; Saeed & Soltanpour, 2021), tower crane robots (Ouyang et al, 2021; M. Zhang et al, 2021), and so forth.…”

Section: Overview Of Control Theory and Methodsmentioning

confidence: 99%

A review for control theory and condition monitoring on construction robots

Shi

Bai

et al. 2023

Journal of Field Robotics

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The application of robotic technologies in building construction leads to great convenience and productivity improvement, and construction robots (CRs) bring enormous opportunities for the way we conduct design and construction. To get a better understanding of the trends and track the application of CRs for on‐site conditions, this paper conducts a systematic review of control models and status monitoring of CRs, which are two key aspects that determine construction accuracy and efficiency. Control accuracy and flexibility are primary needs for CRs applied in different scenes, so the control methods based on driving models are vitally important. Status monitoring on CRs contains knowledge in fault detection, intelligence maintenance, and fault‐tolerant control, and multiple objectives need to be met and optimized in the whole drive chain. Moreover, the state‐of‐the‐art is comprehensively summarized, and new insights are also provided to carry on promising researches.

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“…Consider the tracking error (25) and the LFSC manifold (26). In this case, control law u was designed as where ξ 1 was a positive constant, the meaning of ξ 1 was similar to ξ. en, the meaning of H 4 (t), H 5 (t), H 6 (t) and d 4 (t), d 5 (t), d 6 (t) were similar to H 1 (t) and d 1 (t) in Section 3.1, respectively.…”

Section: Inner Loop Controller Designmentioning

confidence: 99%

“…Zhou et al [25] utilized deep learning method to compensate the uncertainties of the system without requirement of their upper bounds, which makes the designed switching gain much smaller. Song et al [26] proposed a novel nonsingular fast-terminal sliding mode control method to facilitate the stabilization of nonlinear underactuated systems under disturbances. Gu et al [27] utilized neural networks to approximate the lumped unknown dynamic model and designed a fast-terminal sliding mode control strategy to achieve the finite-time consensus tracking.…”

Section: Introductionmentioning

confidence: 99%

Research of Robust Trajectory Tracking Control and Attenuated Chattering: Application on Quadrotor

Zhou

Yao

Liu

et al. 2021

Mathematical Problems in Engineering

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In this paper, we presented a strategy for accurate trajectory tracking control of a quadrotor with unknown disturbances. To guarantee that the tracking errors of all system state variables converge to zero in finite time and eliminate the chattering phenomenon caused by the switching control action, a control strategy that combines linear prediction model of disturbances and fuzzy sliding mode control (SMC) based on logical framework with side conditions (LFSC) was designed. LFSC was applied for both position and attitude tracking of the quadrotor. Firstly, a linear prediction method was devised to minimize the effects of external disturbances. Secondly, a new fuzzy law was implemented to eliminate the chattering phenomenon. In addition, the stabilities of position and attitude were demonstrated by using Lyapunov theory, respectively. Simulation results and comprehensive comparisons demonstrated the superior performance and robustness of the proposed LFSC scheme in the case of external disturbances.

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Stabilization of a Class of Nonlinear Underactuated Robotic Systems through Nonsingular Fast Terminal Sliding Mode Control

Cited by 4 publications

References 41 publications

Robust prescribed performance trajectory tracking control with improved fast nonsingular terminal sliding surface of robot manipulators

Robust prescribed performance trajectory tracking control with improved fast nonsingular terminal sliding surface of robot manipulators

A review for control theory and condition monitoring on construction robots

Research of Robust Trajectory Tracking Control and Attenuated Chattering: Application on Quadrotor

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