Terminal Traction Control of Teleoperation Manipulator With Random Jitter Disturbance Based on Active Disturbance Rejection Sliding Mode Control

Ji, Peng; Ma, Fengying; Feng, Min

doi:10.1109/access.2020.3043247

Cited by 11 publications

(5 citation statements)

References 46 publications

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“…to verify the performance of the proposed controller. In the follow-up experiment, the comparison algorithms adopted consisted of the computed torque controller (CTC) [33], the computed torque controller based on radial basis function (RBF) neural network compensation (CTC-RBF) [34], the terminal sliding mode controller based on the computed torque controller (CTC-NTSMC) [35], the active disturbance rejection sliding mode controller (ADRSMC) [36], as well as the proposed controller.…”

Section: Controllermentioning

confidence: 99%

“…In the following section, the proposed controller and other four comparative controllers were applied to the tele‐aiming and tracking control of uniform moving target and non‐uniform moving target (manoeuvring target with random offset motion) to verify the performance of the proposed controller. In the follow‐up experiment, the comparison algorithms adopted consisted of the computed torque controller (CTC) [33], the computed torque controller based on radial basis function (RBF) neural network compensation (CTC‐RBF) [34], the terminal sliding mode controller based on the computed torque controller (CTC‐NTSMC) [35], the active disturbance rejection sliding mode controller (ADRSMC) [36], as well as the proposed controller.…”

Section: Experimental Verificationmentioning

confidence: 99%

See 1 more Smart Citation

Tele‐aiming control design for reconnaissance robot using a strong tracking multi‐model extended super‐twisting observer

Feng²,

Zhang

et al. 2022

IET Control Theory & Appl

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In this study, a tele‐aiming control system for reconnaissance robots is proposed, capable of enabling operators to quickly control the robot to aim at and track the manoeuvring target with random motion characteristics under measurement noise. To track such manoeuvring targets, a cascaded multi‐model super‐twisting observer is designed. First, the system uncertainty and the inertial impact force disturbance generated during rapid tele‐aiming are expanded into a lumped disturbance state. Subsequently, a strong tracking filter is employed to filter and estimate the system output and the lumped disturbance, and the output of the filter is input into the multi‐model extended state super‐twisting observer. The final second‐order state estimation and lumped disturbance estimation of the augmented system are conducted in accordance with the weighted sum of all super‐twisting observers. Lastly, a non‐singular terminal sliding mode controller is designed to compensate for the lumped disturbance and achieve the fast trajectory tracking. To verify the effectiveness of the proposed observer‐based controller, a series of manoeuvring target tracking experiments was performed. As revealed by the experimental results, the proposed controller can quickly control the reconnaissance robot to aim at and track the manoeuvring target with random abrupt motion characteristics under measurement noise disturbance.

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Section: Controllermentioning

confidence: 99%

Section: Experimental Verificationmentioning

confidence: 99%

Tele‐aiming control design for reconnaissance robot using a strong tracking multi‐model extended super‐twisting observer

Feng²,

Zhang

et al. 2022

IET Control Theory & Appl

Self Cite

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“…Various methods have been proposed in the literature concerning how to control the delayed teleoperation systems [2]. The sliding mode control was proposed as a promising approach, especially when integrated with other methods such as impedance control for the purpose of force control [3] or when used as a means of disturbance rejection [4]. Adaptive control methods have also been widely used in teleoperation systems [5].…”

Section: Introductionmentioning

confidence: 99%

Position synchronization for an uncertain teleoperation system with time delays using L1 theory

et al. 2023

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The problem of position tracking in teleoperation systems equipped with latencies and dynamical uncertainties was addressed in this study. In many applications, such as telesurgery, safe interaction with the external environment is a factor that may undermine the synchronization of the positions. In the case of nondestructive contact with the environment, in addition to an errorless steady-state position tracking, the closedloop system requires a response with the least possible overshoot. To this end, a statefeedback controller based upon L 1 theory was proposed in this paper. The compensator was synthesized using Linear Matrix Inequality (LMI) technology, and the asymptotic stability of the system was veri ed through Lyapunov-Krasovskii functional. Considered its advantage, the proposed control scheme is robust to asymmetric randomly varying time delays in the communication channels. The L 1 -based controller was nally compared to the well-known sliding mode controller through simulation, and it proved to outperform its counterpart from the maximum error point of view while preserving low steady-state error. The proposed controller was also proved to be e ective even in the presence of model uncertainties.

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“…To further improve the response speed and disturbance immunity of the system, some modern control theories such as fuzzy control, adaptive control [9], self-turbulence control [10], neural networks [11], and sliding mode control [12,13] have been successfully applied to the speed control of PMSM. Among them, sliding mode control (SMC) is widely used because of its robustness, fast dynamic response, and easy implementation [14].…”

Section: Introductionmentioning

confidence: 99%

Improved Higher-Order Sliding Mode Controller for Model Predictive Current Control of PMSM

Xiao¹,

Liu²,

Zhang³

et al. 2022

PIER C

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To improve the control accuracy of the model prediction current (MPC) loop of a permanent magnet synchronous motor (PMSM), a new high-order super-twisting sliding-mode controller combined with a sliding-mode disturbance observer is proposed as a speed control strategy. Firstly, the linear term is added to the scaling term based on the original algorithm, which enhances robustness while weakening jitter. In addition, load perturbations and parameter uptake in the system are considered. The perturbation observation error is introduced into the switching gain function, and an improved sliding-mode disturbance observer is designed as feedforward compensation. The disturbance immunity of the system is effectively enhanced. Simulated and experimental results verify the correctness and effectiveness of this control strategy.

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Terminal Traction Control of Teleoperation Manipulator With Random Jitter Disturbance Based on Active Disturbance Rejection Sliding Mode Control

Cited by 11 publications

References 46 publications

Tele‐aiming control design for reconnaissance robot using a strong tracking multi‐model extended super‐twisting observer

Tele‐aiming control design for reconnaissance robot using a strong tracking multi‐model extended super‐twisting observer

Position synchronization for an uncertain teleoperation system with time delays using L1 theory

Improved Higher-Order Sliding Mode Controller for Model Predictive Current Control of PMSM

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