Trajectory tracking control for electro-optical tracking system based on fractional-order sliding mode controller with super-twisting extended state observer

2021 ◽  
Author(s):  
Xinli Zhou ◽  
Xingfei Li
Keyword(s):  
Fractional Order ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Tracking System ◽  
Optical Tracking ◽  
Sliding Mode Controller ◽  
Extended State ◽  
Trajectory Tracking Control ◽  
Optical Tracking System

scholarly journals Adaptive Sliding Mode Trajectory Tracking Control for WMR Considering Skidding and Slipping via Extended State Observer

Energies ◽  
2019 ◽  
Vol 12 (17) ◽  
pp. 3305 ◽  
Author(s):  
Gang Wang ◽  
Chenghui Zhou ◽  
Yu Yu ◽  
Xiaoping Liu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Parameter Uncertainties ◽  
Trajectory Tracking Control ◽  
Adaptive Sliding Mode

When the wheeled mobile robot (WMR) is required to perform specific tasks in complex environment, i.e., on the forestry, wet, icy ground or on the sharp corner, wheel skidding and slipping inevitably occur during trajectory tracking. To improve the trajectory tracking performance of WMR under unknown skidding and slipping condition, an adaptive sliding mode controller (ASMC) design approach based on the extended state observer (ESO) is presented. The skidding and slipping is regarded as external disturbance. In this paper, the ESO is introduced to estimate the lumped disturbance containing the unknown skidding and slipping, parameter variation, parameter uncertainties, etc. By designing a sliding surface based on the disturbance estimation, an adaptive sliding mode tracking control strategy is developed to attenuate the lumped disturbance. Simulation results show that higher precision tracking and better disturbance rejection of ESO-ASMC is realized for linear and circular trajectory than the ASMC scheme. Besides, experimental results indicate the ESO-ASMC scheme is feasible and effective. Therefore, ESO-ASMC scheme can enhance the energy efficiency for the differentially driven WMR under unknown skidding and slipping condition.

A comparative study of two model-based control techniques for the industrial manipulator

Robotica ◽  
2016 ◽  
Vol 35 (10) ◽  
pp. 2036-2055 ◽  
Author(s):  
Ahmet Dumlu ◽  
Köksal Erentürk ◽  
Alirıza Kaleli ◽  
Kağan Koray Ayten
Keyword(s):  
Real Time ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Performance ◽  
Sliding Mode Controller ◽  
Linear Quadratic ◽  
Trajectory Tracking Control ◽  
Spherical Type ◽  
Control Techniques

SUMMARYIn this paper, design, analysis and real-time trajectory tracking control of a 6-degree of freedom revolute spherical-spherical type parallel manipulator, actuated by six hybrid stepper motors, has been studied. Two different control approaches have been used to improve the trajectory tracking performance of the designed manipulator. The first approach considered a single input-single output (SISO) linear quadratic regulator (LQR) for trajectory tracking control of the manipulator. Another controller type based on a nonlinear sliding mode controller method has been utilized to take decoupled dynamic approximation model of the manipulator into account and to improve tracking performance of the manipulator. Real-time experimental results for the two different control techniques have been verified. Finally, according to the results, the nonlinear sliding mode controller method has improved the tracking performance of the designed manipulator.

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