Adaptive Backstepping Sliding Mode Control for Equilibrium Position Tracking of an Electrohydraulic Elastic Manipulator

2020 ◽  
Vol 67 (5) ◽  
pp. 3860-3869 ◽  
Author(s):  
Duc Thien Tran ◽  
Dang Xuan Ba ◽  
Kyoung Kwan Ahn
Keyword(s):  
Sliding Mode Control ◽  
Equilibrium Position ◽  
Sliding Mode ◽  
Position Tracking ◽  
Adaptive Backstepping ◽  
Mode Control ◽  
Backstepping Sliding Mode Control

Research on Adaptive Backstepping Global Sliding Control for CPS

2013 ◽  
Vol 846-847 ◽  
pp. 134-138
Author(s):  
Jue Wang ◽  
Fei Li ◽  
Ye Huang ◽  
Jian Hao Wang ◽  
Hong Lin Zhang
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Flight Simulator ◽  
Position Tracking ◽  
Adaptive Backstepping ◽  
Parameter Uncertainties ◽  
Servo Systems ◽  
Mode Control ◽  
Global Sliding Mode Control ◽  
Compensation Methods

The paper studies the problem of tracking control for flight simulator servo systems, one typical CPS, with parameter uncertainties and nonlinear friction compensation. Methods of adaptive global sliding mode control and backstepping control are respectively proposed to realize the control of virtual rotational speed and position tracking. Adaptive backstepping global sliding mode control strategy for flight simulator servo systems is proposed and its stability is analyzed. Simulation results show the effectiveness of the proposed method, which could achieve the precision position tracking performance and eliminate the chattering.

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