scholarly journals Adaptive sliding mode disturbance observer–based funnel trajectory tracking control of quadrotor with external disturbances

2021 ◽  
Author(s):  
Gang Xu ◽  
Yuanqing Xia ◽  
Di‐Hua Zhai ◽  
Bing Cui
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Adaptive Sliding Mode ◽  
Sliding Mode Disturbance Observer

Adaptive Sliding Mode Disturbance Observer Based Composite Trajectory Tracking Control for Robot Manipulator With Prescribed Performance

2021 ◽  
Author(s):  
Danni Shi ◽  
Jinhui Zhang ◽  
Zhongqi Sun ◽  
Yuanqing Xia
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode ◽  
Prescribed Performance ◽  
Adaptive Sliding Mode ◽  
Sliding Mode Disturbance Observer

Abstract In this paper, the problem of the composite trajectory tracking control for robot manipulator with lumped uncertainties including unmodeled dynamics and external disturbances is investigated. To achieve the active disturbance rejection, the adaptive sliding mode disturbance observer is proposed to estimate the unknown lumped uncertainties in the absence of the prior upper bound information on the lumped uncertainties. Then, by combining the non-singular terminal sliding mode control and prescribed performance control approaches, the composite trajectory tracking controller is designed, and not only the finite-time convergence of the trajectory tracking errors, but also the prescribed performances are guaranteed. Finally, by applying the proposed control scheme to a two-DOF manipulator system, the effectiveness and advantages are verified by numerical simulations.

Chattering-suppression sliding mode control of an autonomous underwater vehicle based on nonlinear disturbance observer and power function reaching law

2021 ◽  
pp. 014233122198986
Author(s):  
Qirong Tang ◽  
Yinghao Li ◽  
Ruiqin Guo ◽  
Daopeng Jin ◽  
Yang Hong ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Nonlinear Disturbance Observer ◽  
Reaching Law ◽  
Nonlinear Disturbance

To improve the performance of autonomous underwater vehicle in trajectory tracking control, which is subject to system uncertainties and time-varying external disturbances, a nonlinear disturbance observer-based sliding mode controller is proposed in the study. First, a reaching law with a special power function and a hyperbolic tangent function is presented. Then an improved sliding mode controller based on the new reaching law is combined to decrease the reaching time and avoid chattering during the trajectory tracking control. Furthermore, to reduce the influence of the system uncertainties and external disturbances, a nonlinear disturbance observer is introduced to identify them. The error asymptotic convergence of the trajectory tracking control is proved by the Lyapunov-like function. Finally, under different environmental disturbances, plenty of simulations are carried out to verify the efficiency and robustness of the proposed method. Results show that when it is tracking different trajectories, the proposed method can suppress the chattering and reduce the disturbances effectively, while ensuring tracking performance.

Robust finite-time trajectory tracking control for a space manipulator with parametric uncertainties and external disturbances

2021 ◽  
pp. 095441002110147
Author(s):  
Qijia Yao
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Space Manipulator ◽  
Tracking Controller

Space manipulator is considered as one of the most promising technologies for future space activities owing to its important role in various on-orbit serving missions. In this study, a robust finite-time tracking control method is proposed for the rapid and accurate trajectory tracking control of an attitude-controlled free-flying space manipulator in the presence of parametric uncertainties and external disturbances. First, a baseline finite-time tracking controller is designed to track the desired position of the space manipulator based on the homogeneous method. Then, a finite-time disturbance observer is designed to accurately estimate the lumped uncertainties. Finally, a robust finite-time tracking controller is developed by integrating the baseline finite-time tracking controller with the finite-time disturbance observer. Rigorous theoretical analysis for the global finite-time stability of the whole closed-loop system is provided. The proposed robust finite-time tracking controller has a relatively simple structure and can guarantee the position and velocity tracking errors converge to zero in finite time even subject to lumped uncertainties. To the best of the authors’ knowledge, there are really limited existing controllers can achieve such excellent performance under the same conditions. Numerical simulations illustrate the effectiveness and superiority of the proposed control method.

scholarly journals Research of Robust Trajectory Tracking Control and Attenuated Chattering: Application on Quadrotor

2021 ◽  
Vol 2021 ◽  
pp. 1-22
Author(s):  
Guangli Zhou ◽  
Yongming Yao ◽  
Huiying Liu ◽  
Xupeng Bai ◽  
Jianbo Liu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Linear Prediction ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Superior Performance ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Chattering Phenomenon ◽  
Attitude Tracking

In this paper, we presented a strategy for accurate trajectory tracking control of a quadrotor with unknown disturbances. To guarantee that the tracking errors of all system state variables converge to zero in finite time and eliminate the chattering phenomenon caused by the switching control action, a control strategy that combines linear prediction model of disturbances and fuzzy sliding mode control (SMC) based on logical framework with side conditions (LFSC) was designed. LFSC was applied for both position and attitude tracking of the quadrotor. Firstly, a linear prediction method was devised to minimize the effects of external disturbances. Secondly, a new fuzzy law was implemented to eliminate the chattering phenomenon. In addition, the stabilities of position and attitude were demonstrated by using Lyapunov theory, respectively. Simulation results and comprehensive comparisons demonstrated the superior performance and robustness of the proposed LFSC scheme in the case of external disturbances.

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.

scholarly journals Fixed-Time Trajectory Tracking Control of Autonomous Surface Vehicle with Model Uncertainties and Disturbances

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Jiawen Cui ◽  
Haibin Sun
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Fixed Time ◽  
Convergence Time ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Integral Sliding Mode ◽  
Control Scheme

The issue of fixed-time trajectory tracking control for the autonomous surface vehicles (ASVs) system with model uncertainties and external disturbances is investigated in this paper. Particularly, convergence time does not depend on initial conditions. The major contributions include the following: (1) An integral sliding mode controller (ISMC) via integral sliding mode surface is first proposed, which can ensure that the system states can follow the desired trajectory within a fixed time. (2) Unknown external disturbances are absolutely estimated by means of designing a fixed-time disturbance observer (FTDO). By combining the FTDO and ISMC techniques, a new control scheme (FTDO-ISMC) is developed, which can achieve both disturbance compensation and chattering-free condition. (3) Aiming at reconstructing the unknown nonlinear dynamics and external disturbances, a fixed-time unknown observer (FTUO) is proposed, thus providing the FTUO-ISMC scheme that finally achieves trajectory tracking of ASVs with unknown parameters. Finally, simulation tests and detailed comparisons indicate the effectiveness of the proposed control scheme.

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