Adaptive PID-fractional-order nonsingular terminal sliding mode control for cable-driven manipulators using time-delay estimation

2020 ◽  
Vol 51 (15) ◽  
pp. 3118-3133
Author(s):  
Yaoyao Wang ◽  
Jiawei Peng ◽  
Kangwu Zhu ◽  
Bai Chen ◽  
Hongtao Wu
Keyword(s):  
Time Delay ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode

scholarly journals Fractional Order Adaptive Fast Super-Twisting Sliding Mode Control for Steer-by-Wire Vehicles with Time-Delay Estimation

Electronics ◽  
2021 ◽  
Vol 10 (19) ◽  
pp. 2424
Author(s):  
Yong Yang ◽  
Yunbing Yan ◽  
Xiaowei Xu
Keyword(s):  
Time Delay ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Time Delay Estimation ◽  
Lyapunov Theory ◽  
Delay Estimation ◽  
Mode Control ◽  
Model Free ◽  
Steer By Wire

It is difficult to model and determine the parameters of the steer-by-wire (SBW) system accurately, and the perturbation is variable with complex and changeable tire–road conditions. In order to improve the control performance of the vehicle SBW system, an adaptive fast super-twisting sliding mode control (AFST-SMC) scheme with time-delay estimation (TDE) is proposed. The proposed scheme uses TDE to acquire the lumped dynamics in a simple way and establishes a practical model-free structure. Then, a fractional order (FO) sliding mode surface and a fast super-twisting sliding mode control structure were designed on the basic super-twisting sliding mode to ensure fast convergence and high control accuracy. Since the uncertain boundary information of the actual system is unknown, a novel adaptive algorithm is proposed to regulate the control gain based on the control errors. Theoretical analysis concerning system stability is given based on the Lyapunov theory. Finally, the effectiveness of the method is verified through comparative experiments. The results show that the proposed TDE-AFST-FOSMC control scheme has the advantages of model-free, fast response and high accuracy.

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