scholarly journals Integral Nonsingular Terminal Sliding Mode Control of Hydraulic Servo Actuator Based on Extended State Observer

2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Zhenshuai Wan ◽  
Yu Fu
Keyword(s):  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Tracking Accuracy ◽  
Terminal Sliding Mode ◽  
Motion Trajectories ◽  
Nonsingular Terminal Sliding Mode ◽  
Servo Actuator ◽  
Hydraulic Servo

Hydraulic servo actuator always suffers from various disturbance and uncertainties, which makes it difficult to design a higher performance controller. In this paper, an integral nonsingular terminal sliding mode controller based on extended state observer (ESO-INTSM) is proposed to improve the robust performance of hydraulic servo actuator. The ESO is designed to estimate not only the parametric uncertainties but also the model disturbance. Based on the observed states of ESO, the proposed controllers could enable hydraulic servo actuator to track the desired motion trajectories. The stability of the synthesized controller is proved via Lyapunov analysis, which is very important for high-accuracy tracking control of hydraulic servo actuator. Simulation and experimental results demonstrate that the proposed control strategy can effectively attenuate the adverse influence caused by the uncertainties and apparently improve the tracking accuracy.

scholarly journals Investigation of the Hydraulic Servo System of the Rolling Mill Using Nonsingular Terminal Sliding Mode-Active Disturbance Rejection Control

2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Jining Guo ◽  
Haoyu Zhang ◽  
Desheng Liu
Keyword(s):  
Disturbance Rejection ◽  
Sliding Mode ◽  
State Observer ◽  
Active Disturbance Rejection Control ◽  
Tracking Accuracy ◽  
Terminal Sliding Mode ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Nonsingular Terminal Sliding Mode ◽  
Hydraulic Servo

In order to improve the disturbance rejection ability and tracking accuracy of the hydraulic servo system of the rolling mill, this study combines nonsingular terminal sliding mode control (NTSMC) with active disturbance rejection control (ADRC). A fourth-order extended state observer was designed to estimate the disturbance of the system in real time. The stability of the control system was tested using the Lyapunov method. System effectiveness was verified through simulation experiments. Simulation results showed that the designed state observer can estimate the total disturbance of the system in real time and that the chattering of the control input can be eliminated by the introduction of a state observer. In terms of uncertainty in the system model caused by load changes and external interference signals, the nonsingular terminal sliding mode-active disturbance rejection control method exhibited better disturbance rejection capacity and a higher tracking accuracy than NTSMC.

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.

scholarly journals Design of Nonlinear Robust Rotor Current Controller for DFIG Based on Terminal Sliding Mode Control and Extended State Observer

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Guowei Cai ◽  
Cheng Liu ◽  
Deyou Yang ◽  
Nantian Huang
Keyword(s):  
Sliding Mode ◽  
Dynamic Performance ◽  
Variable Structure ◽  
State Observer ◽  
Extended State Observer ◽  
Strong Nonlinearity ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Control Approach ◽  
Current Controller

As to strong nonlinearity of doubly fed induction generators (DFIG) and uncertainty of its model, a novel rotor current controller with nonlinearity and robustness is proposed to enhance fault ride-though (FRT) capacities of grid-connected DFIG. Firstly, the model error, external disturbances, and the uncertain factors were estimated by constructing extended state observer (ESO) so as to achieve linearization model, which is compensated dynamically from nonlinear model. And then rotor current controller of DFIG is designed by using terminal sliding mode variable structure control theory (TSMC). The controller has superior dynamic performance and strong robustness. The simulation results show that the proposed control approach is effective.

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.

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