scholarly journals Fault-Tolerant Control for N-Link Robot Manipulator via Adaptive Nonsingular Terminal Sliding Mode Control Technology

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Nannan Shi ◽  
Fanghui Luo ◽  
Zhikuan Kang ◽  
Lihui Wang ◽  
Zhuo Zhao ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Tracking Error ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode ◽  
The Stability

An adaptive nonsingular terminal sliding mode control (ANTSMC) scheme for the n-link robot manipulator is presented in this study, which can achieve faster convergence and higher precision tracking compared with the linear hyperplane-based sliding mode control. Novel adaptive updating laws based on the actual tracking error are employed to online adjust the upper bound of uncertainty, which comprehensively consider both the tracking performance and chattering eliminating problem. The stability analysis of the proposed ANTSMC is verified using the Lyapunov method with the existence of the parameter uncertainty and the actuator faults. Numerical simulation studies the comparison of performance between ANTSMC and the conventional nonsingular terminal sliding mode control (NTSMC) scheme to validate the advantages of the proposed control algorithm.

scholarly journals Active Fault Tolerant Nonsingular Terminal Sliding Mode Control for Electromechanical System Based on Support Vector Machine

2021 ◽  
Author(s):  
Jian Hu ◽  
ZhengYin Yang ◽  
JianYong Yao
Keyword(s):  
Support Vector Machine ◽  
Sliding Mode Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Electromechanical System ◽  
Support Vector ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode

Abstract At present, electromechanical actuator is very popular in the industrial field because of environmental protection, energy saving and high efficiency. At the same time, it also puts forward higher requirements for its reliability. In this paper, a fault tolerant nonsingular terminal sliding mode control method for electromechanical system based on support vector machine (SVM) is proposed. SVM is designed to estimate the possible faults in the system by off-line learning from large sample data with gradient descent method. The estimation is used to compensate the possible fault with feedforward cancellation technique in the proposed controller. An observer is designed to estimate the system states to make fault detection and reconstruct the controller when something is wrong in electromechanical system. A nonsingular terminal sliding mode surface is designed, and Lyapunov theorem is used to derive a parameter adaptation law for handling the parametric uncertainty and a nonsingular terminal sliding mode control law. It is guaranteed the proposed controller can achieve bounded stability. Extensive comparative simulation and experimental results illustrate the effectiveness and advancement of the proposed controller compared with several other main-stream controllers.

scholarly journals Adaptive compound second-order terminal sliding mode control for the longitudinal attitude control of the fully submerged hydrofoil vessel

2019 ◽  
Vol 11 (12) ◽  
pp. 168781401989563 ◽  
Author(s):  
Sheng Liu ◽  
Hongmin Niu ◽  
Lanyong Zhang ◽  
Xiaojie Guo
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Small Neighborhood ◽  
Second Order ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Fast Tracking ◽  
Mode Control ◽  
The Stability

Due to the ever-existing environmental disturbance of ocean wave and nonlinear of the system, it is difficult to obtain a satisfying control performance for the longitudinal attitude and desired height tracking of the fully submerged hydrofoil vessel. To solve such problems, an adaptive compound second-order terminal sliding mode controller is proposed. First, a combination of the complementary sliding mode surface and second-order terminal sliding mode control is introduced. Therefore, the closed system is uniformly ultimately bounded, and the steady-state errors converge to a small neighborhood of equilibrium point. Second, the chattering problem in an actual controller is solved by eliminating the sign function contained in the controller after integration without influencing the stability of the closed-loop system. Besides, a revised adaptive radial basis function neural network is introduced to estimate the derivative of the unknown environmental disturbances without the prior information of the disturbance. Finally, the stability of the system is proved by the Lyapunov stability theory. Numerical experimental results demonstrate that the proposed method possesses fast tracking ability and can decrease the stabilization error and the tracking error simultaneously.

scholarly journals Position Tracking Control for Permanent Magnet Linear Motor via Continuous-Time Fast Terminal Sliding Mode Control

2018 ◽  
Vol 2018 ◽  
pp. 1-6 ◽  
Author(s):  
Wei Gao ◽  
Xiuping Chen ◽  
Haibo Du ◽  
Song Bai
Keyword(s):  
Sliding Mode Control ◽  
Continuous Time ◽  
Control Method ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode ◽  
Permanent Magnet Linear Motor

For the position tracking control problem of permanent magnet linear motor, an improved fast continuous-time nonsingular terminal sliding mode control algorithm based on terminal sliding mode control method is proposed. Specifically, first, for the second-order model of position error dynamic system, a new continuous-time fast terminal sliding surface is introduced and an improved continuous-time fast terminal sliding mode control law is proposed. Then rigorous theoretical analysis is provided to demonstrate the finite-time stability of the closed-loop system by using the Lyapunov function. Finally, numerical simulations are given to verify the effectiveness and advantages of the proposed fast nonsingular terminal sliding mode control method.

Sign in / Sign up

Export Citation Format

Share Document