Adaptive backstepping sliding mode control based on nonlinear disturbance observer for trajectory tracking of robotic manipulator

The paper proposes an adaptive fuzzy position control for a 3-DOF hydraulic manipulator with large payload variation. The hydraulic manipulator uses electrohydraulic actuators as primary torque generators to enhance carrying payload of the manipulator. The proposed control combines backstepping sliding mode control, fuzzy logic system (FLS), and a nonlinear disturbance observer. The backstepping sliding mode control includes a sliding mode control for manipulator dynamics and a PI control for actuator dynamics. The fuzzy logic system is utilized to adjust the control gain and robust gain of the sliding mode control (SMC) based on the output of the nonlinear disturbance observer to compensate the payload. The Lyapunov approach and backstepping technique are used to prove the stability and robustness of the whole system. Some simulations are implemented, and the results are compared to other controllers to exhibit the effectiveness of the proposed control.

Download Full-text

Fractional-order command filtered backstepping sliding mode control with fractional-order nonlinear disturbance observer for nonlinear systems

Journal of the Franklin Institute ◽

10.1016/j.jfranklin.2020.04.055 ◽

2020 ◽

Vol 357 (11) ◽

pp. 6760-6776

Author(s):

Seongik Han

Keyword(s):

Nonlinear Systems ◽

Sliding Mode Control ◽

Fractional Order ◽

Disturbance Observer ◽

Sliding Mode ◽

Nonlinear Disturbance Observer ◽

Mode Control ◽

Backstepping Sliding Mode Control ◽

Nonlinear Disturbance

Download Full-text

Backstepping sliding mode control for combined spacecraft with nonlinear disturbance observer

2016 UKACC 11th International Conference on Control (CONTROL) ◽

10.1109/control.2016.7737539 ◽

2016 ◽

Cited By ~ 2

Author(s):

Han Gao ◽

Yueyong Lv ◽

Guangfu Ma ◽

Chuanjiang Li

Keyword(s):

Sliding Mode Control ◽

Disturbance Observer ◽

Sliding Mode ◽

Nonlinear Disturbance Observer ◽

Mode Control ◽

Backstepping Sliding Mode Control ◽

Nonlinear Disturbance

Download Full-text

Backstepping Sliding Mode Control for Robot Manipulator via Nonlinear Disturbance Observer

2019 Chinese Control Conference (CCC) ◽

10.23919/chicc.2019.8865316 ◽

2019 ◽

Author(s):

Yiqing Huang ◽

Lu Cheng ◽

Zhikun Li ◽

Wengen Gao ◽

Huacai Lu ◽

...

Keyword(s):

Sliding Mode Control ◽

Disturbance Observer ◽

Sliding Mode ◽

Robot Manipulator ◽

Nonlinear Disturbance Observer ◽

Mode Control ◽

Backstepping Sliding Mode Control ◽

Nonlinear Disturbance

Download Full-text

Fractional-Order Backstepping Sliding-Mode Control Based on Fractional-Order Nonlinear Disturbance Observer

Journal of Computational and Nonlinear Dynamics ◽

10.1115/1.4041322 ◽

2018 ◽

Vol 13 (11) ◽

Cited By ~ 3

Author(s):

Hadi Delavari ◽

Hamid Heydarinejad

Keyword(s):

Sliding Mode Control ◽

Fractional Order ◽

Disturbance Observer ◽

Sliding Mode ◽

Direct Method ◽

Nonlinear Disturbance Observer ◽

Mode Control ◽

Backstepping Sliding Mode Control ◽

Nonlinear Disturbance ◽

Mismatched Disturbances

In this paper, a novel fractional-order (FO) backstepping sliding-mode control is proposed for a class of FO nonlinear systems with mismatched disturbances. Here the matched/mismatched disturbances are estimated by an FO nonlinear disturbance observer (NDO). This FO NDO is proposed based on FO backstepping algorithm to estimate the mismatched disturbances. The stability of the closed-loop system is proved by the new extension of Lyapunov direct method for FO systems. Exponential reaching law considerably decreases the chattering and provides a high dynamic tracking performance. Finally, three simulation examples are presented to show the features and the effectiveness of the proposed method. Results show that this observer approximates the unknown mismatched disturbances successfully.

Download Full-text

Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance Observers

Journal of Control Science and Engineering ◽

10.1155/2020/7376503 ◽

2020 ◽

Vol 2020 ◽

pp. 1-13

Author(s):

Wei Yuan ◽

Guoqin Gao ◽

Jianzhen Li

Keyword(s):

Sliding Mode Control ◽

Disturbance Observer ◽

Sliding Mode ◽

Sliding Mode Controller ◽

Adaptive Backstepping ◽

Nonlinear Disturbance Observer ◽

Control Scheme ◽

Backstepping Sliding Mode Control ◽

Nonlinear Disturbance ◽

Mismatched Disturbances

An adaptive backstepping sliding mode controller combined with a nonlinear disturbance observer is designed for trajectory tracking of the electrically driven hybrid conveying mechanism with mismatched disturbances. A nonlinear disturbance observer is constructed for estimation and compensation of the mismatched and matched disturbances. Then, a hybrid control scheme is designed by combining the adaptive backstepping sliding mode controller and the mentioned observer. The Lyapunov candidate functions are utilized to derive the control and adaptive law. According to the simulation and experimental results, superior tracking performance could be obtained through the presented control scheme compared with conventional backstepping sliding mode control. Meanwhile, the presented control scheme can effectively reduce the chattering problem and improve tracking precision.

Download Full-text