scholarly journals Adaptive Terminal Sliding Mode Control of a Redundantly-Actuated Cable-Driven Parallel Manipulator: CoGiRo

2014 ◽  
pp. 179-200 ◽  
Author(s):  
Gamal El-Ghazaly ◽  
Marc Gouttefarde ◽  
Vincent Creuze
Keyword(s):  
Sliding Mode Control ◽  
Parallel Manipulator ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Redundantly Actuated

scholarly journals Non-singular terminal sliding mode control for redundantly actuated parallel mechanism

2020 ◽  
Vol 17 (2) ◽  
pp. 172988142091954
Author(s):  
Haiqiang Zhang ◽  
Hairong Fang ◽  
Qi Zou
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Parallel Mechanism ◽  
Sliding Mode ◽  
Torque Control ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Control Scheme ◽  
Redundantly Actuated

In this article, the trajectory tracking control is developed by implementing a non-singular terminal sliding mode control for the redundantly actuated parallel mechanism system. The proposed control scheme could guarantee that the tracking errors converge to zero asymptotically. The problem of singularity with regard to conventional terminal sliding mode control scheme can be eliminated with the presented novel non-singular terminal sliding mode surface as well. The corresponding stability of the proposed control scheme has also been proved theoretically in terms of Lyapunov method. In addition, simulations and experiments are conducted for trajectory tracking to validate the effectiveness of the proposed scheme. The illustrative results demonstrate that the proposed scheme is available to solve the uncertainties and external disturbances with self-tuning in real time. Furthermore, the prominent characteristics of the presented control scheme are quick convergence, high accuracy, and high robustness, which can achieve excellent tracking performance as compared with computed torque control scheme and conventional sliding mode control scheme.

Adaptive Terminal Sliding Mode Control for Flexible Air-Breathing Hypersonic Vehicle

2021 ◽  
Author(s):  
Decong Qin ◽  
Haibing Chen ◽  
Wei Lin ◽  
Peng Tang ◽  
Tielin Ma ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Hypersonic Vehicle ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Air Breathing ◽  
Mode Control
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