Time delay control of hydraulic manipulators with continuous nonsingular terminal sliding mode

2015 ◽  
Vol 22 (12) ◽  
pp. 4616-4624 ◽  
Author(s):  
Yao-yao Wang ◽  
Jia-wang Chen ◽  
Lin-yi Gu ◽  
Xiao-dong Li
Keyword(s):  
Time Delay ◽  
Sliding Mode ◽  
Terminal Sliding Mode ◽  
Time Delay Control ◽  
Hydraulic Manipulators ◽  
Nonsingular Terminal Sliding Mode ◽  
Delay Control

Practical continuous fractional-order nonsingular terminal sliding mode control of underwater hydraulic manipulators with valve deadband compensators

2018 ◽  
Vol 232 (4) ◽  
pp. 459-469 ◽  
Author(s):  
Yaoyao Wang ◽  
Bai Chen ◽  
Hongtao Wu
Keyword(s):  
Fractional Order ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Terminal Sliding Mode Control ◽  
Control Performance ◽  
Terminal Sliding Mode ◽  
Hydraulic Manipulators ◽  
Nonsingular Terminal Sliding Mode

For the multi-degrees of freedom control problem of underwater hydraulic manipulators with non-ignorable valve deadband and strong lumped nonlinearities and uncertainties, a practical continuous fractional-order nonsingular terminal sliding mode control design together with a deadband compensator is presented and studied. The presented method contains three parts a time delay estimation utilized to nearly estimate and compensate the extremely complicated system dynamics, a continuous fractional-order nonsingular terminal sliding mode used to ensure high control performance against the strong lumped nonlinearities and uncertainties, and a valve deadband compensator used to compensate for the non-ignorable valve deadband. The proposed method is model-free thanks to the time delay estimation, and can ensure satisfactory control performance thanks to the continuous fractional-order nonsingular terminal sliding mode and deadband compensator. Stability of the closed-loop control system including the deadband compensator is proved rigorously. Finally, practical 2-degrees of freedom experiments are performed, and corresponding results effectively demonstrate the superiorities of the newly presented controller with deadband compensator.

scholarly journals Task Space Trajectory Tracking Control of Robot Manipulators with Uncertain Kinematics and Dynamics

2017 ◽  
Vol 2017 ◽  
pp. 1-19 ◽  
Author(s):  
Xichang Liang ◽  
Yi Wan ◽  
Chengrui Zhang
Keyword(s):  
Time Delay ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Kinematics And Dynamics ◽  
Task Space ◽  
Terminal Sliding Mode ◽  
Nonsingular Terminal Sliding Mode

To improve the tracking precision of robot manipulators’ end-effector with uncertain kinematics and dynamics in the task space, a new control method is proposed. The controller is based on time delay estimation and combines with the nonsingular terminal sliding mode (NTSM) and adaptive fuzzy logic control scheme. Kinematic parameters are not exactly required with the consideration of kinematic uncertainties in the controller. No dynamic models or numerous parameters of the robot manipulator system are required with the use of TDE. Thus, the controller is simple structure and suitable for practical applications. Furthermore, errors caused by time delay estimation are compensated by the adaptive fuzzy nonsingular terminal sliding mode scheme. The simulation is performed on a 2-DOF robot manipulator with three cases in the task space. The results show that the proposed controller provides faster convergence rate and higher tracking precision than TDE based NTSM and improved TDE based NTSM controller.

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