Tracking Error Constrained Super-twisting Sliding Mode Control for Robotic Systems

2018 ◽  
Vol 16 (2) ◽  
pp. 804-814 ◽  
Author(s):  
Cheol-Su Jeong ◽  
Jong-Shik Kim ◽  
Seong-Ik Han
2021 ◽  
pp. 002029402110211
Author(s):  
Tao Chen ◽  
Damin Cao ◽  
Jiaxin Yuan ◽  
Hui Yang

This paper proposes an observer-based adaptive neural network backstepping sliding mode controller to ensure the stability of switched fractional order strict-feedback nonlinear systems in the presence of arbitrary switchings and unmeasured states. To avoid “explosion of complexity” and obtain fractional derivatives for virtual control functions continuously, the fractional order dynamic surface control (DSC) technology is introduced into the controller. An observer is used for states estimation of the fractional order systems. The sliding mode control technology is introduced to enhance robustness. The unknown nonlinear functions and uncertain disturbances are approximated by the radial basis function neural networks (RBFNNs). The stability of system is ensured by the constructed Lyapunov functions. The fractional adaptive laws are proposed to update uncertain parameters. The proposed controller can ensure convergence of the tracking error and all the states remain bounded in the closed-loop systems. Lastly, the feasibility of the proposed control method is proved by giving two examples.


2000 ◽  
Author(s):  
J. Choi ◽  
C. W. de Silva ◽  
V. J. Modi ◽  
A. K. Misra

Abstract This paper focuses a robust and knowledge-based control approach for multi-link robot manipulator systems. Based on the concepts of sliding-mode control and fuzzy logic control (FLC), a fuzzy sliding-mode controller has been developed in previous work. This controller possesses good robustness properties of sliding-mode control and the flexibility and ‘intelligent’ capabilities of knowledge-based control through the use of fuzzy logic. This paper presents experimental studies with fuzzy sliding-mode control as well as conventional sliding-mode control. The results show that the tracking error is guaranteed to converge to a specification in the presence of uncertainties. The performance of the fuzzy sliding-mode controller is found to be somewhat better than that of the conventional sliding-mode controller.


Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-10 ◽  
Author(s):  
Ruiguo Liu ◽  
Xuehui Gao

A new neural network sliding mode control (NNSMC) is proposed for backlash-like hysteresis nonlinear system in this paper. Firstly, only one neural network is designed to estimate the unknown system states and hysteresis section instead of multiscale neural network at former researches since that can save computation and simplify the controller design. Secondly, a new NNSMC is proposed for the hysteresis nonlinearity where it does not need tracking error transformation. Finally, the Lyapunov functions are adopted to guarantee the stabilities of the identification and control strategies semiglobally uniformly ultimately bounded (UUB). Two cases simulations are proved the effectiveness of the presented identification approach and the performance of the NNSMC.


Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-23 ◽  
Author(s):  
Guoqiang Zhu ◽  
Sen Wang ◽  
Lingfang Sun ◽  
Weichun Ge ◽  
Xiuyu Zhang

In this paper, a fuzzy adaptive output feedback dynamic surface sliding-mode control scheme is presented for a class of quadrotor unmanned aerial vehicles (UAVs). The framework of the controller design process is divided into two stages: the attitude control process and the position control process. The main features of this work are (1) a nonlinear observer is employed to predict the motion velocities of the quadrotor UAV; therefore, only the position signals are needed for the position tracking controller design; (2) by using the minimum learning technology, there is only one parameter which needs to be updated online at each design step and the computational burden can be greatly reduced; (3) a performance function is introduced to transform the tracking error into a new variable which can make the tracking error of the system satisfy the prescribed performance indicators; (4) the sliding-mode surface is introduced in the process of the controller design, and the robustness of the system is improved. Stability analysis proved that all signals of the closed-loop system are uniformly ultimately bounded. The results of the hardware-in-the-loop simulation validate the effectiveness of the proposed control scheme.


2020 ◽  
Vol 10 (14) ◽  
pp. 4779 ◽  
Author(s):  
Cheng Lu ◽  
Liang Hua ◽  
Xinsong Zhang ◽  
Huiming Wang ◽  
Yunxiang Guo

This paper investigates one kind of high performance control methods for Micro-Electro-Mechanical-System (MEMS) gyroscopes using adaptive sliding mode control (ASMC) scheme with prescribed performance. Prescribed performance control (PPC) method is combined with conventional ASMC method to provide quantitative analysis of gyroscope tracking error performances in terms of specified tracking error bound and specified error convergence rate. The new derived adaptive prescribed performance sliding mode control (APPSMC) can maintain a satisfactory control performance which guarantees system tracking error, at any time, to be within a predefined error bound and the error convergences faster than the error bound. Besides, adaptive control (AC) technique is integrated with PPC to online tune controller parameters, which will converge to their true values at last. The stability of the control system is proved in the Lyapunov stability framework and simulation results on a Z-axis MEMS gyroscope is conducted to validate the effectiveness of the proposed control approach.


2020 ◽  
pp. 002029402094495
Author(s):  
Zhiqiang Xu ◽  
Zhiyong Wang ◽  
Zhixin Shen ◽  
Yougang Sun

Ship-borne manipulator system is extremely unstable under the complex marine environment, which seriously threatens the safety of operating equipment and operators. In this paper, the dynamics and robust control of wave compensation system for ship-borne manipulator are studied. First, based on the oil circuit variable amplitude control of ship-borne manipulator, the coupling dynamic model of valve-controlled cylinder parallel accumulator is established. Then, since traditional sliding mode needs high-order derivative of feedback angle, it is difficult to implement traditional sliding mode in real hardware system. To solve these problems, a nonlinear differential and integral sliding mode control strategy is proposed. The integral term is introduced to reduce the influence of unmodeled disturbance and parameter perturbation. The stability analysis proves that the system state can track the desired target signal, and the tracking error e( t) tends to zero. In addition, in order to weaken the phenomenon of system chattering, this paper introduces a nonlinear differential control to increase the damping coefficient of the system. The simulation and experimental results show that the control law has good dynamic performance, high control accuracy, and strong anti-disturbance ability without chattering phenomenon. It is of great significance to improve the efficiency and safety of ship-borne manipulator operation, and this paper also provides useful reference for wave compensation system of other marine equipment.


2016 ◽  
Vol 24 (2) ◽  
pp. 393-406 ◽  
Author(s):  
Toshio Yoshimura

This paper presents an adaptive fuzzy backstepping sliding mode control for multi-input and multi-output uncertain nonlinear systems in semi-strict feedback form. The systems are described by a discrete-time state equation with uncertainties viewed as the modeling errors and the unknown external disturbances, and the observation of the states is taken with independent measurement noises. Combining the adaptive fuzzy backstepping control with the sliding mode control approach for the comprehensive improvement in the stability and the robustness, the adaptive fuzzy backstepping sliding mode control is approximately designed where the design parameters are selected using an appropriate Lyapunov function. The uncertainities are approximated as fuzzy logic systems using the fuzzy inference approach based on the extended single input rule modules to reduce the number of the fuzzy IF-THEN rules. The estimates for the un-measurable states and the adjustable parameters are taken by the proposed simplified weighted least squares estimator. It is proved that the trajectory of the tracking error and the sliding surface is uniformly ultimately bounded. The effectiveness of the proposed approach is indicated through the simulation experiment of a simple numerical system.


2010 ◽  
Vol 143-144 ◽  
pp. 53-61 ◽  
Author(s):  
Ning Bo Cheng ◽  
Li Wen Guan ◽  
Li Ping Wang ◽  
Jian Han

This paper proposes a simple method dealing with chattering phenomenon of sliding mode control. Instead of using a linear function to smooth the discontinuous control when the system is within the boundary layer, the controller adopts a smooth nonlinear function which we call a nonlinear saturation function (nsat function). Compared with the conventional linear saturation function (sat function), the nsat function can be constructed arbitrarily and shall satisfy eight conditions. Seven of the conditions are used to get a better effect in reducing chattering and one is used to keep a fast response performance by adjusting one constant parameter . As the nsat function can be specified by , it can be calculated in advance; this makes the nsat function of high computation efficiency and makes it acceptable in real time control systems. One candidate nsat function is constructed by adopting a hyperbolic tangent function and it is adopted in the simulations running on a second order system. Simulation results show that the nsat function also results in a smaller tracking error.


2008 ◽  
Vol 594 ◽  
pp. 401-406 ◽  
Author(s):  
Jin Wei Liang ◽  
Hung Yi Chen ◽  
Shy Yaw Chiang

The fuzzy sliding-mode control strategy is used to tackle tracking problem of a piezo-actuated stage in this paper. The piezo-actuated system is composed of the piezoelectric actuator and a positioning mechanism. Due to hysteretic nonlinearity of the piezoelectric actuator, the tracking accuracy of the system is limited. To compensate for this nonlinearity, a feedback fuzzy sliding-mode control augmented with a predictor-based feedforward compensator is proposed. The controller, denoted as the feedforward-feedback fuzzy sliding-mode controller (FF-FSMC), can be applied to eliminate tracking error caused by the hysteretic characteristics. Experimental results on different types of reference inputs indicate that the proposed control schemes may suppress the tracking error of the piezo-actuated system effectively.


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