scholarly journals Adaptive Sliding-Mode Tracking Control for a Class of Nonholonomic Mechanical Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Wei Sun
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Mechanical Systems ◽  
Terminal Sliding Mode ◽  
Nonholonomic Mechanical Systems ◽  
Affine Constraints ◽  
Control Scheme ◽  
Mode Tracking

This paper investigates the problem of finite-time tracking control for nonholonomic mechanical systems with affine constraints. The control scheme is provided by flexibly incorporating terminal sliding-mode control with the method of relay switching control and related adaptive technique. The proposed relay switching controller ensures that the output tracking error converges to zero in a finite time. As an application, a boat on a running river is given to show the effectiveness of the control scheme.

Adaptive sliding mode tracking control of hydraulic servosystems with unknown non-linear friction and modelling error

2000 ◽  
Vol 214 (4) ◽  
pp. 247-257 ◽  
Author(s):  
S H Cho ◽  
K A Edge
Keyword(s):  
Boundary Layer ◽  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Control Scheme ◽  
Non Linear ◽  
Linear Friction ◽  
Frictional Forces ◽  
Mode Tracking ◽  
Modelling Error

This paper deals with the use of adaptive discrete-time sliding mode tracking control in order to assure good tracking performance as well as to guarantee robustness against non-linear frictional forces and modelling error. The control scheme ensures that the absolute value of the sliding function decreases when it is outside the sliding boundary layer and the steady state value of the sliding function is bounded by the sliding boundary layer. Application of the scheme to a hydraulic servosystem has shown that adaptively estimated frictional forces compare favourably with those obtained from direct measurement. A significant reduction in tracking error is achieved through the use of non-linear friction compensation.

scholarly journals Finite-Time Terminal Sliding Mode Tracking Control for Piezoelectric Actuators

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Jin Li ◽  
Liu Yang
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Piezoelectric Actuators ◽  
Fast Response ◽  
Terminal Sliding Mode ◽  
Time Control ◽  
Sliding Mode Disturbance Observer ◽  
Control Scheme ◽  
Bounded Disturbances

This paper proposes a continuous finite-time control scheme using a new form of terminal sliding mode (TSM) combined with a sliding mode disturbance observer (SMDO). The proposed controller is applied for nanopositioning of piezoelectric actuators (PEAs). Nonlinearities, mainly hysteresis, can drastically degrade the system performance. Same as the model imperfection, hysteresis can also be treated as uncertainties of the system. These uncertainties can be addressed by terminal sliding mode control (TSMC) for it is promising for positioning and tracking control. To further improve the robustness of the TSM controller, the SMDO is employed to estimate the bounded disturbances and uncertainties. The robust stability of the TSMC is proved through a Lyapunov stability analysis. Simulation results demonstrate the effectiveness of the proposed TSM/SMDO controller for both positioning and tracking applications. The fast response, few chattering, and high precision positioning and tracking performances can be achieved in finite time by the proposed controller.

Adaptive neural finite-time trajectory tracking control of hydraulic excavators

2018 ◽  
Vol 232 (7) ◽  
pp. 909-925 ◽  
Author(s):  
Yong Li ◽  
Qingfeng Wang
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Approximation Error ◽  
Superior Performance ◽  
Observation Error ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode

This article is focused on the high-performance trajectory tracking control of single actuator of a hydraulic excavator. A novel adaptive neural finite-time controller without tedious offline parameter identification and the complex backstepping scheme is put forward. By employing a coordinate transform, the original system can be represented in a canonical form. Consequently, the control objective is retained by controlling the transformed system, which allows a simple controller design without using backstepping. To estimate the immeasurable states of the transformed system, a high-order sliding mode observer is employed, of which observation error is guaranteed to be bounded in finite time. To guarantee finite-time trajectory tracking performance, an adaptive neural finite-time controller based on neural network approximation and terminal sliding mode theory is synthesized. During its synthesis, an echo state network is used to approximate the lumped uncertain system functions, and it guarantees an improved approximation with online-updated output weights. Besides, to handle the lumped uncertain nonlinearities resulting from observation error and neural approximation error, a robust term is employed. The influences of the uncertain nonlinearities are restrained with a novel parameter adaption law, which estimates and updates the upper bound of the lumped uncertain nonlinearities online. With this novel controller, the finite-time trajectory tracking error convergence is proved theoretically. The superior performance and the practical applicability of the proposed method are verified by comparative simulations and experiments.

scholarly journals Antidisturbance Vibration Suppression of the Aerial Refueling Hose during the Coupling Process

2017 ◽  
Vol 2017 ◽  
pp. 1-20
Author(s):  
Zikang Su ◽  
Honglun Wang
Keyword(s):  
Vibration Suppression ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
Tracking Error ◽  
Measurement Noise ◽  
Aerial Refueling ◽  
Terminal Sliding Mode ◽  
Multiple Disturbances ◽  
Noise Simulation ◽  
Control Scheme

In autonomous aerial refueling (AAR), the vibration of the flexible refueling hose caused by the receiver aircraft’s excessive closure speed should be suppressed once it appears. This paper proposed an active control strategy based on the permanent magnet synchronous motor (PMSM) angular control for the timely and accurate vibration suppression of the flexible refueling hose. A nonsingular fast terminal sliding-mode (NFTSM) control scheme with adaptive extended state observer (AESO) is proposed for PMSM take-up system under multiple disturbances. The states and the “total disturbance” of the PMSM system are firstly reconstituted using the AESO under the uncertainties and measurement noise. Then, a faster sliding variable with tracking error exponential term is proposed together with a special designed reaching law to enhance the global convergence speed and precision of the controller. The proposed control scheme provides a more comprehensive solution to rapidly suppress the flexible refueling hose vibration in AAR. Compared to other methods, the scheme can suppress the flexible hose vibration more fleetly and accurately even when the system is exposed to multiple disturbances and measurement noise. Simulation results show that the proposed scheme is competitive in accuracy, global rapidity, and robustness.

Inversion-free force tracking control of piezoelectric actuators using fast finite-time integral terminal sliding-mode

Mechatronics ◽  
2019 ◽  
Vol 57 ◽  
pp. 39-50 ◽  
Author(s):  
Jinoh Lee ◽  
Maolin Jin ◽  
Navvab Kashiri ◽  
Darwin G. Caldwell ◽  
Nikolaos G. Tsagarakis
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Piezoelectric Actuators ◽  
Terminal Sliding Mode ◽  
Time Integral ◽  
Force Tracking
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