Non-singular Fast Terminal Sliding Mode Tracking Control of a 2-DOF Robotic Manipulator Using Finite-Time Extended State Observer

2021 ◽  
Author(s):  
Yiting Zhu ◽  
Di Wu ◽  
Shihua Li
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Robotic Manipulator ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode ◽  
Mode Tracking

scholarly journals Fault-tolerant control for a class of n-order systems based on fast terminal sliding mode and extended state observer

2021 ◽  
pp. 002029402110286
Author(s):  
Pu Yang ◽  
Peng Liu ◽  
ChenWan Wen ◽  
Huilin Geng
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Singular Control ◽  
Fault Tolerant Control ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode ◽  
Terminal Sliding Surface

This paper focuses on fast terminal sliding mode fault-tolerant control for a class of n-order nonlinear systems. Firstly, when the actuator fault occurs, the extended state observer (ESO) is used to estimate the lumped uncertainty and its derivative of the system, so that the fault boundary is not needed to know. The convergence of ESO is proved theoretically. Secondly, a new type of fast terminal sliding surface is designed to achieve global fast convergence, non-singular control law and chattering reduction, and the Lyapunov stability criterion is used to prove that the system states converge to the origin of the sliding mode surface in finite time, which ensures the stability of the closed-loop system. Finally, the effectiveness and superiority of the proposed algorithm are verified by two simulation experiments of different order systems.

scholarly journals Nonsingular Fast Terminal Sliding Mode Control with Extended State Observer and Disturbance Compensation for Position Tracking of Electric Cylinder

2018 ◽  
Vol 2018 ◽  
pp. 1-12
Author(s):  
Duoyang Li ◽  
Junzheng Wang
Keyword(s):  
Sliding Mode ◽  
State Observer ◽  
Measurement Noise ◽  
Extended State Observer ◽  
Position Tracking ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Output Measurement ◽  
Fast Terminal Sliding Mode ◽  
Electric Cylinder

The position tracking problem of the electric cylinder, which has internal perturbation, external disturbance, and measurement noise of the output, is studied in this paper. A control method is proposed for achieving high tracking accuracy and tracking velocity for the wheel-legged robot application. Nonsingular fast terminal sliding mode (NFTSM) control is investigated to ensure that the system output can track the reference input in finite time. Besides, extended state observer (ESO) of the active disturbance rejection control (ADRC) is used to estimate the system lumped perturbation and compensated it in the controller based on the terminal sliding mode. This greatly reduces the chattering of the system caused by the gain of the sliding mode switch. Furthermore, tracking differentiator is designed to attenuate the output measurement noise. Simulation and experimental results illustrate that the NFTSM with ESO and TD algorithm, which is presented in this paper, has obvious superiority in the tracking precision and the antijam ability.

scholarly journals Extended-State-Observer-Based Terminal Sliding Mode Tracking Control for Synchronous Fly-Around with Space Tumbling Target

2019 ◽  
Vol 2019 ◽  
pp. 1-15
Author(s):  
Zhijun Chen ◽  
Yong Zhao ◽  
Yuzhu Bai ◽  
Dechao Ran ◽  
Liang He
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Coupling Effect ◽  
External Disturbance ◽  
Fast Response ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Tumbling Target

This paper presents a robust controller with an extended state observer to solve the Synchronous Fly-Around problem of a chaser spacecraft approaching a tumbling target in the presence of unknown uncertainty and bounded external disturbance. The rotational motion and time-varying docking trajectory of tumbling target are given in advance and referred as the desired tracking objective. Based on dual quaternion framework, a six-degree-of-freedom coupled relative motion between two spacecrafts is modeled, in which the coupling effect, model uncertainties, and external disturbances are considered. More specially, a novel nonsingular terminal sliding mode is designed to ensure the convergence to the desired trajectory in finite time. Based on the second-order sliding mode, an extended state observer is employed to the controller to compensate the closed-loop system. By theoretical analysis, it is proved that the modified extended-state-observer-based controller guarantees the finite-time stabilization. Numerical simulations are taken to show the effectiveness and superiority of the proposed control scheme. Finally, Synchronous Fly-Around maneuvers can be accomplished with fast response and high accuracy.

Novel nonsingular fast terminal sliding mode control for a PMSM chaotic system with extended state observer and tracking differentiator

2015 ◽  
Vol 23 (15) ◽  
pp. 2478-2493 ◽  
Author(s):  
Xuejian Chang ◽  
Ling Liu ◽  
Wen Ding ◽  
Deliang Liang ◽  
Chongxin Liu ◽  
...  
Keyword(s):  
Chaotic System ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
Transition Process ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Tracking Differentiator ◽  
Fast Terminal Sliding Mode

A novel nonsingular fast terminal sliding mode (NNFTSM) control strategy based on the extended state observer (ESO) and the tracking differentiator (TD) is developed for the stabilization and tracking of the uncertain perturbed permanent magnet synchronous motor (PMSM) chaotic system. The proposed NNFTSM surface not only makes the system state rapidly converge to the equilibrium point in finite time with high steady-state precision, but also avoids the singular phenomenon. Furthermore, the ESO which does not rely on the mathematical model of the system is used for estimating uncertainties and disturbances to decrease the chattering caused by the big switching gain through compensating controller. Meanwhile, the TD is introduced to arrange the transition process for the reference input signal to realize the coordinated control between the rapidity and overshoot, and to decrease the initial impulse of the manipulative variable. The simulation results demonstrate that the proposed control scheme can flexibly restrain chaos which provides good dynamic and static performances, and has strong robustness to parameter variations and external load disturbances with low chattering.

scholarly journals Optimal attitude tracking control for an unmanned aerial quadrotor under lumped disturbances

2020 ◽  
Vol 12 ◽  
pp. 175682932092356
Author(s):  
Li Ding ◽  
Yangmin Li
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Extended State Observer ◽  
Parametric Uncertainties ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Attitude Tracking ◽  
Fast Terminal Sliding Mode ◽  
Linear Extended State Observer ◽  
Attitude Tracking Control

The robust control problem in attitude tracking of an unmanned aerial vehicle quadrotor is a challenging task due to strong parametric uncertainties, large nonlinearities and high couplings in flight dynamics. In this paper, a continuous nonsingular fast terminal sliding mode controller based on linear extended state observer is proposed for attitude tracking control of a quadrotor under lumped disturbances. The proposed control method requires no prior knowledge of the attitude dynamics. It can ensure rapid convergence rate and high tracking precision due to terminal sliding mode surface and fast reaching law. The controller uses the linear extended state observer to reject the influence of both parametric uncertainties and external disturbances. Meanwhile, the nonsingular fast terminal sliding mode control strategy is designed to ensure the state variables to slide to desired points in finite time. To enhance the control performance, a self-adaptive fruit fly optimization algorithm is applied to parameters tuning of the proposed controller. The effectiveness of the proposed control approach is illustrated through numerical simulations and experimental verification.

scholarly journals Nonsingular Fast Terminal Sliding Mode Control with Extended State Observer and Tracking Differentiator for Uncertain Nonlinear Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-16 ◽  
Author(s):  
Zhenxin He ◽  
Chuntong Liu ◽  
Ying Zhan ◽  
Hongcai Li ◽  
Xianxiang Huang ◽  
...  
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Tracking Differentiator ◽  
Fast Terminal Sliding Mode

A continuous nonsingular fast terminal sliding mode (NFTSM) control scheme with the extended state observer (ESO) and the tracking differentiator (TD) is proposed for second-order uncertain SISO nonlinear systems. The system’s disturbances and states can be estimated by introducing the ESO, then the disturbances are compensated effectively, and the ideal transient process of the system can be arranged based on TD to provide the target tracking signal and its high-order derivatives. The proposed controller obtains finite-time convergence property and keeps good robustness of sliding mode control (SMC) for disturbances. Moreover, compared with conventional SMC, the proposed control law is continuous and no chattering phenomenon exists. The property of system stability is guaranteed by Lyapunov stability theory. The simulation results show that the proposed method can be employed to shorten the system reaching time, improve the system tracking precision, and suppress the system chattering and the input noise. The proposed control method is finally applied for the rotating control problem of theodolite servo system.

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