Finite-time model-free trajectory tracking control for overhead cranes subject to model uncertainties, parameter variations and external disturbances

2019 ◽  
Vol 41 (12) ◽  
pp. 3516-3525 ◽  
Author(s):  
Menghua Zhang
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Sliding Mode ◽  
Overhead Crane ◽  
Model Uncertainties ◽  
Asymptotic Results ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Model Free ◽  
Parameter Variations

The payload mass and the cable length are always different/uncertain for various transportation tasks and external disturbances that accompany industrial overhead crane systems. In addition, existing control methods can obtain merely asymptotic results. To solve the aforementioned problems, an accurate model-free trajectory tracking controller subject to finite time convergence for overhead crane systems is proposed based on the suitably defined non-singular terminal sliding vector. Moreover, the proposed controller is absolutely continuous, addressing the limitations and shortcomings of the traditional sliding mode control. Lyapunov techniques are used to prove that the proposed controller guarantees finite-time tracking result and the finite time T is calculated. Simulation and experimental results are included to demonstrate the robustness of the proposed controller with respect to model uncertainties, parameter variations and external disturbances.

scholarly journals Fixed-Time Trajectory Tracking Control of Autonomous Surface Vehicle with Model Uncertainties and Disturbances

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Jiawen Cui ◽  
Haibin Sun
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Fixed Time ◽  
Convergence Time ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Integral Sliding Mode ◽  
Control Scheme

The issue of fixed-time trajectory tracking control for the autonomous surface vehicles (ASVs) system with model uncertainties and external disturbances is investigated in this paper. Particularly, convergence time does not depend on initial conditions. The major contributions include the following: (1) An integral sliding mode controller (ISMC) via integral sliding mode surface is first proposed, which can ensure that the system states can follow the desired trajectory within a fixed time. (2) Unknown external disturbances are absolutely estimated by means of designing a fixed-time disturbance observer (FTDO). By combining the FTDO and ISMC techniques, a new control scheme (FTDO-ISMC) is developed, which can achieve both disturbance compensation and chattering-free condition. (3) Aiming at reconstructing the unknown nonlinear dynamics and external disturbances, a fixed-time unknown observer (FTUO) is proposed, thus providing the FTUO-ISMC scheme that finally achieves trajectory tracking of ASVs with unknown parameters. Finally, simulation tests and detailed comparisons indicate the effectiveness of the proposed control scheme.

scholarly journals Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter

2015 ◽  
Vol 2015 ◽  
pp. 1-13 ◽  
Author(s):  
Xing Fang ◽  
Aiguo Wu ◽  
Yujia Shang ◽  
Chunyan Du
Keyword(s):  
Flight Control ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Time Derivative ◽  
Unmanned Helicopter ◽  
Property A ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Small Unmanned Helicopter

This paper presents a highly robust trajectory tracking controller for small unmanned helicopter with model uncertainties and external disturbances. First, a simplified dynamic model is developed, where the model uncertainties and external disturbances are treated as compounded disturbances. Then the system is divided into three interconnected subsystems: altitude subsystem, yaw subsystem, and horizontal subsystem. Second, a disturbance observer based controller (DOBC) is designed based upon backstepping and multivariable super twisting control algorithm to obtain robust trajectory tracking property. A sliding mode observer works as an estimator of the compounded disturbances. In order to lessen calculative burden, a first-order exact differentiator is employed to estimate the time derivative of the virtual control. Moreover, proof of the stability of the closed-loop system based on Lyapunov method is given. Finally, simulation results are presented to illustrate the effectiveness and robustness of the proposed flight control scheme.

Robust finite-time trajectory tracking control for a space manipulator with parametric uncertainties and external disturbances

2021 ◽  
pp. 095441002110147
Author(s):  
Qijia Yao
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Space Manipulator ◽  
Tracking Controller

Space manipulator is considered as one of the most promising technologies for future space activities owing to its important role in various on-orbit serving missions. In this study, a robust finite-time tracking control method is proposed for the rapid and accurate trajectory tracking control of an attitude-controlled free-flying space manipulator in the presence of parametric uncertainties and external disturbances. First, a baseline finite-time tracking controller is designed to track the desired position of the space manipulator based on the homogeneous method. Then, a finite-time disturbance observer is designed to accurately estimate the lumped uncertainties. Finally, a robust finite-time tracking controller is developed by integrating the baseline finite-time tracking controller with the finite-time disturbance observer. Rigorous theoretical analysis for the global finite-time stability of the whole closed-loop system is provided. The proposed robust finite-time tracking controller has a relatively simple structure and can guarantee the position and velocity tracking errors converge to zero in finite time even subject to lumped uncertainties. To the best of the authors’ knowledge, there are really limited existing controllers can achieve such excellent performance under the same conditions. Numerical simulations illustrate the effectiveness and superiority of the proposed control method.

scholarly journals Research of Robust Trajectory Tracking Control and Attenuated Chattering: Application on Quadrotor

2021 ◽  
Vol 2021 ◽  
pp. 1-22
Author(s):  
Guangli Zhou ◽  
Yongming Yao ◽  
Huiying Liu ◽  
Xupeng Bai ◽  
Jianbo Liu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Linear Prediction ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Superior Performance ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Chattering Phenomenon ◽  
Attitude Tracking

In this paper, we presented a strategy for accurate trajectory tracking control of a quadrotor with unknown disturbances. To guarantee that the tracking errors of all system state variables converge to zero in finite time and eliminate the chattering phenomenon caused by the switching control action, a control strategy that combines linear prediction model of disturbances and fuzzy sliding mode control (SMC) based on logical framework with side conditions (LFSC) was designed. LFSC was applied for both position and attitude tracking of the quadrotor. Firstly, a linear prediction method was devised to minimize the effects of external disturbances. Secondly, a new fuzzy law was implemented to eliminate the chattering phenomenon. In addition, the stabilities of position and attitude were demonstrated by using Lyapunov theory, respectively. Simulation results and comprehensive comparisons demonstrated the superior performance and robustness of the proposed LFSC scheme in the case of external disturbances.

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