Terminal Sliding Mode Control of Mobile Wheeled Inverted Pendulum System with Nonlinear Disturbance Observer

Ri, Songhyok; Huang, Jian; Wang, Yongji; Kim, Myongho; An, Sonchol

doi:10.1155/2014/284216

Cited by 17 publications

(3 citation statements)

References 21 publications

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“…represents the inaccurately built inertia matrix. The disappeared items of the dynamics are considered unknown and are included into the unknown disturbance as follows DðtÞ ¼ dðtÞ À CðqðtÞ; _ q ðtÞÞ _ q ðtÞ À GðqðtÞÞ À MðqðtÞÞ À M ðqðtÞÞ Â Ã € q ðtÞ À d p ðtÞ (28) which needs to be estimated. Since € q ðtÞ is unmeasurable, we use € q d ðtÞ instead for an approximation in equation ( 28).…”

Section: Simulationsmentioning

confidence: 99%

“…To extend the number of degrees of freedom into n , a more general NDO based on a linear matrix inequality (LMI) is proposed by Mohammadi 21 –23 Nevertheless, the predefined condition that the product of the observer gain matrix and inertia matrix is constant matrix, inevitably restricts the options of observer gain in applications. And the above drawbacks continue in the following literature, 24 –28 until 29,30 which modify the structure of the NDO to relax the restriction of the observer gain. However, the observer gain in Qiao et al 29 is a constant for easier analysis by Lyapunov theory, rather than a more general matrix.…”

Section: Introductionmentioning

confidence: 99%

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Universal nonlinear disturbance observer for robotic manipulators

Zhang

et al. 2023

International Journal of Advanced Robotic Systems

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Dynamic uncertainties and unknown disturbances will degrade the tracking performance of robots. When using a disturber observer-based controller, the key to effectively compensate for these uncertainties is to measure or estimate as accurately as possible any disturbance. To relax restrictions on the design of the current nonlinear disturbance observer for the robot, a universal nonlinear disturbance observer is proposed for higher estimation performance. The stability of the proposed universal nonlinear disturbance observer is theoretically analyzed and the boundaries of estimation error are proven according to the vector differential equation. Finally, the proposed universal nonlinear disturbance observer is evaluated via simulation by comparison to the nonlinear disturbance observer. The result shows a faster estimation speed and a higher estimation accuracy of the universal nonlinear disturbance observer.

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Section: Simulationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Universal nonlinear disturbance observer for robotic manipulators

Zhang

et al. 2023

International Journal of Advanced Robotic Systems

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show abstract

“…Underactuation can be met in: (1) mobile manipulators carrying out cooperative tasks, (2) fixedbase robots that manipulate elastically deformable objects. [9][10][11][12][13][14] Underactuated closed-chain robotic systems, containing fewer actuators than the degrees of freedom have little been studied. This is mainly due to high nonlinear nature of the associated dynamic model and the complexity in the controller's design.…”

Section: Introductionmentioning

confidence: 99%

Control and disturbances compensation in underactuated robotic systems using the derivative-free nonlinear Kalman filter

Rigatos

2015

Robotica

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SUMMARYThe Derivative-free nonlinear Kalman Filter is used for developing a robust controller which can be applied to underactuated MIMO robotic systems. The control problem for underactuated robots is non-trivial and becomes further complicated if the robot is subjected to model uncertainties and external disturbances. Using differential flatness theory it is shown that the model of a closed-chain 2-DOF robotic manipulator can be transformed to linear canonical form. For the linearized equivalent of the robotic system it is shown that a state feedback controller can be designed. Since certain elements of the state vector of the linearized system cannot be measured directly, it is proposed to estimate them with the use of a novel filtering method, the so-called Derivative-free nonlinear Kalman Filter. Moreover, by redesigning the Kalman Filter as a disturbance observer, it is shown that one can estimate simultaneously external disturbance terms that affect the robotic model or disturbance terms which are associated with parametric uncertainty. The efficiency of the proposed Kalman Filter-based control scheme is tested in the case of a 2-DOF planar robotic manipulator that has the structure of a closed-chain mechanism.

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Adaptive sliding mode control of uncertain nonlinear systems with preassigned settling time and its applications

Hou

Tan

Han

et al. 2019

Intl J Robust & Nonlinear

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SummaryThis paper investigates the adaptive tracking control of second‐order nonlinear systems with nonlinearly parameterized uncertainties and disturbances, as well as multiplicative uncertainty in the control coefficient matrix. A novel adaptive function augmented sliding mode control approach is proposed such that the tracking error converges to a neighborhood of zero with the preassigned size within the preassigned settling time. In the proposed control scheme, the control gains increase as the adaptive estimate values increase only when necessary, that is, when the current control gains are not big enough to suppress the uncertainties or disturbances; as a result, the conservativeness of control design caused by unnecessary high control gains can be effectively reduced. Moreover, the chattering phenomenon well known in the sliding mode control is eliminated by using the saturation function to replace the signum function, and the possible persistent increasing problem of the adaptive estimate values due to measurement disturbances or noises on the feedback is also well addressed by introducing “dead‐zone” nonlinearities in the adaptive laws. In addition, an improved method to construct the desired error trajectory is proposed, and this method could avoid the large undershoot‐like or overshoot‐like phenomena, which the traditional one may result in. The obtained results are finally applied to the motion control of the underwater vehicle and the rendezvous control of spacecraft, and the simulation results illustrate the effectiveness and the advantages of the proposed control approach.

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Terminal Sliding Mode Control of Mobile Wheeled Inverted Pendulum System with Nonlinear Disturbance Observer

Cited by 17 publications

References 21 publications

Universal nonlinear disturbance observer for robotic manipulators

Universal nonlinear disturbance observer for robotic manipulators

Control and disturbances compensation in underactuated robotic systems using the derivative-free nonlinear Kalman filter

Adaptive sliding mode control of uncertain nonlinear systems with preassigned settling time and its applications

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