Trajectory tracking of Stanford robot manipulator by fractional-order sliding mode control

Chávez-Vázquez, S.; Lavín-Delgado, J. E.; Gómez‐Aguilar, J.F.; Razo-Hernández, José R.; Etemad, Sina; Rezapour, Shahram

doi:10.1016/j.apm.2023.04.001

Cited by 10 publications

(5 citation statements)

References 58 publications

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“…Our proposed method incorporates a new NSFOSMS, an innovative AST scheme, and a nonlinear ESO. With these three groundbreaking elements, our control strategy guarantees both faster convergence and superior accuracy compared to the current methods ( 11) and (16). These assertions will be substantiated through our comparatives.…”

Section: The Proposed Fractional Order Sliding Mode Composite Control...mentioning

confidence: 57%

“…In El Ferik et al's 15 paper, a fractional order SMC was designed for the quadrotor slung-load system. In another research, 16 a fractional order SMC was designed by Samuel et al for trajectory tracking of the robot manipulator. In Sun et al's 17 paper, a fractional order SMC was used for the joint angle tracking control of the wearable exoskeletons.…”

Section: The Development Of the Current Technologymentioning

confidence: 99%

“…For the nonlinear ESO-based NFOSMCC (16), it uses an NFOSMS and a well-known AST scheme. Our proposed method incorporates a new NSFOSMS, an innovative AST scheme, and a nonlinear ESO.…”

Section: The Proposed Fractional Order Sliding Mode Composite Control...mentioning

confidence: 99%

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One new composite control based smooth nonlinear fractional order sliding mode algorithm and disturbance compensation for PMSM with parameter uncertainties

Gao,

Pan,

Zhu

2023

Advances in Mechanical Engineering

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To achieve high-quality control of PMSM with parameter uncertainties, a nonlinear smooth fractional order sliding mode composite control (NSFOSMCC) strategy is designed in this paper. This approach incorporates a novel nonlinear smooth fractional order sliding mode controller, a novel adaptive super-twisting (AST) algorithm, and a modified nonlinear extended state observer (ESO) to achieve enhanced motor performance. To effectively overcome the disadvantages of simplicity and toughness associated with the conventional fractional order sliding mode controller, a novel nonlinear smooth fractional order sliding mode controller is designed. A novel AST technique is introduced to effectively weaken chattering issues. The modified nonlinear ESO is used to estimate the uncertainty parameters of the PMSM. By combining the modified nonlinear ESO with the latest sliding mode controller, a new composite controller called NSFOSMCC strategy is developed for PMSM. The proposed NSFOSMCC strategy, utilizing a combination of “feedforward plus feedback,” is implemented for PMSM with parameter uncertainties. The reliability and stability of the controller are thoroughly established through the utilization of the Lyapunov stability theorem. Furthermore, comparative results show strong evidence supporting the effectiveness of the novel composite control strategy.

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Section: The Proposed Fractional Order Sliding Mode Composite Control...mentioning

confidence: 57%

Section: The Development Of the Current Technologymentioning

confidence: 99%

See 1 more Smart Citation

One new composite control based smooth nonlinear fractional order sliding mode algorithm and disturbance compensation for PMSM with parameter uncertainties

Gao,

Pan,

Zhu

2023

Advances in Mechanical Engineering

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“…Control algorithms are widely used in the field of automatic control field, 36,37 PID algorithm is one of useful control algorithms. 38,39 It has been widely used in the active magnetic bearing control system and is usually used as the main controller of the system.…”

Section: Introductionmentioning

confidence: 99%

Research on control strategy of an active magnetorheological fluid bearing based on improved gray wolf optimization approach

Lai

Hua

Liu

et al. 2023

Journal of Low Frequency Noise, Vibration and Active Control

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In order to address the problems of insufficient load capacity and rotor vibration, an active fluid-film bearing lubricated with magnetorheological fluid (MRF) is proposed. First, the geometry of the MRF fluid-film bearing is designed and its intelligent lubrication mechanism is analyzed to clarify its advantages. In addition, mathematical model of MRF fluid-film bearing-rotor system is derived, and FEM model is utilized to obtain stiffness and damping coefficients to supplement mathematical model. Moreover, an improved gray wolf optimization (IGWO) algorithm is developed to tune the PID controller parameters. The validity of the proposed method is verified by numerical simulation. Furthermore, the simulation results show that with the increasing of current magnitude, the orbits of shaft center decrease. Under the presence of magnetic fields, the shaft center orbits of the MRF bearing can converge to a point, and therefore this bearing has ability to suppress rotor vibration. Finally, IGWO-PID controller has better response characteristics than GWO, PSO, and GA algorithms, and hence the IGWO algorithm can find the more appropriate PID controller parameters, that the validity of the improved algorithm is further proved. Therefore, the active bearing and its research findings provide new reference for MRF vibration control in the field of journal bearing lubrication.

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“…Therefore, numerous studies have been conducted to advance SMC. A fractional integral sliding mode control was introduced on the sliding surface, further improving the system's performance [13,14]. Adaptive-controller-based sliding mode control was proposed to estimate the uncertainties [15][16][17].…”

Section: Introductionmentioning

confidence: 99%

Auto-Inspection System Using Optimized Fuzzy Sliding Mode Control Strategy for Tunnel Inspection

Gao,

Ding,

Shi

et al. 2023

Electronics

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Cities composed of many mountainous areas necessitate the use of many tunnels for roads and highways with a potential safety hazard. To determine the safety of tunnels, periodic tunnel inspections mainly rely on manual work, which is dangerous and slow. Therefore, this paper proposes an auto-inspection system for tunnel inspection consisting of a robotic arm, laser sensors, and an inspection radar to free inspectors from hazardous environments and high-intensity work. Based on the mathematical model in the inspection process, a sliding mode controller is designed and optimized with fuzzy control and hyperbolic tangent functions, and is used in a tunnel inspection robot system for the first time. The simulation results show that optimized fuzzy sliding mode control can improve the tracking accuracy and stability during the tracking process compared with the traditional algorithm. Curved line inspection and arch line inspection experiment tests demonstrate that our system can automatically inspect the tunnel, and that the optimized fuzzy sliding mode control provides a superior performance in terms of the tracking process, with the average error decreasing by 37.8% when compared to traditional algorithms. Therefore, the proposed system is of great significance for high-precision and high-stability unmanned automated tunnel inspection.

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Trajectory tracking of Stanford robot manipulator by fractional-order sliding mode control

Cited by 10 publications

References 58 publications

One new composite control based smooth nonlinear fractional order sliding mode algorithm and disturbance compensation for PMSM with parameter uncertainties

One new composite control based smooth nonlinear fractional order sliding mode algorithm and disturbance compensation for PMSM with parameter uncertainties

Research on control strategy of an active magnetorheological fluid bearing based on improved gray wolf optimization approach

Auto-Inspection System Using Optimized Fuzzy Sliding Mode Control Strategy for Tunnel Inspection

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