Integral terminal sliding-mode robust vibration control of large space intelligent truss structures using a disturbance observer

2021 ◽  
pp. 095441002110290
Author(s):  
Dalong Tian ◽  
Jianguo Guo
Keyword(s):  
Robust Control ◽  
Forced Vibration ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
External Disturbance ◽  
Truss Structures ◽  
Model Parameters ◽  
Large Space ◽  
Terminal Sliding Mode ◽  
Piezoelectric Stack Actuator

This study aims to develop an advanced integral terminal sliding-mode robust control method using a disturbance observer (DO) to suppress the forced vibration of a large space intelligent truss structure (LSITS). First, the dynamics of the electromechanical coupling of the piezoelectric stack actuator and the LSITS, based on finite element and Lagrangian methods, are established. Subsequently, to constrict the vibration of the structure, a novel integral terminal sliding-mode control (ITSMC) law for the DO is used to estimate the parameter perturbation of the LSITS based on a continuous external disturbance. Simulation results show that, under a forced vibration and compared with the ITSMC system without a DO, the displacement amplitude of the ITSMC system with the DO is effectively reduced. In the case where the model parameters of the LSITS deviate by ±50%, and an unknown continuous external disturbance exists, the control system with the DO can adequately attenuate the structural vibration and realize robust control. Concurrently, the voltage of the employed piezoelectric stack actuator is reduced, and voltage jitter is alleviated.

scholarly journals Continuous Recursive Sliding Mode Control for Hypersonic Flight Vehicle with Extended Disturbance Observer

2015 ◽  
Vol 2015 ◽  
pp. 1-26 ◽  
Author(s):  
Yunjie Wu ◽  
Jianmin Wang
Keyword(s):  
Disturbance Observer ◽  
Sliding Mode ◽  
External Disturbance ◽  
Sliding Mode Controller ◽  
Flight Vehicle ◽  
Terminal Sliding Mode ◽  
Hypersonic Flight Vehicle ◽  
Hypersonic Flight ◽  
Compensation Factor ◽  
The Stability

A continuous recursive sliding mode controller (CRSMC) with extended disturbance observer (EDO) is proposed for the longitudinal dynamics of a generic hypersonic flight vehicle (HFV) in the presence of multiple uncertainties under control constraints. Firstly, sliding mode tracking controller based on a set of novel recursive sliding mode manifolds is presented, in which the chattering problem is reduced. The CRSMC possesses the merits of both nonsingular terminal sliding mode controller (NTSMC) and high-order sliding mode controller (HOSMC). Then antiwindup controller is designed according to the input constraints, which adds a dynamic compensation factor in the CRSMC. For the external disturbance of system, an improved disturbance observer based on extended disturbance observer (EDO) is designed. The external disturbance is estimated by the disturbance observer and the estimated value is regarded as compensation in CRSMC for disturbance. The stability of the proposed scheme is analyzed by Lyapunov function theory. Finally, numerical simulation is conducted for cruise flight dynamics of HFV, where altitude is 110000 ft, velocity is 15060 ft/s, and Mach is 15. Simulation results show the validity of the proposed approach.

scholarly journals Sliding Mode Robust Control of a Wire-Driven Parallel Robot Based on HJI Theory and a Disturbance Observer

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 215235-215245
Author(s):  
Yuqi Wang ◽  
Qi Lin ◽  
Jiacai Huang ◽  
Lei Zhou ◽  
Jinjiang Cao ◽  
...  
Keyword(s):  
Robust Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Parallel Robot

scholarly journals Control of an IPMC Soft Actuator Using Adaptive Full-Order Recursive Terminal Sliding Mode

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 33
Author(s):  
Romina Zarrabi Ekbatani ◽  
Ke Shao ◽  
Jasim Khawwaf ◽  
Hai Wang ◽  
Jinchuan Zheng ◽  
...  
Keyword(s):  
Sliding Mode ◽  
External Disturbance ◽  
Tracking Error ◽  
Working Environment ◽  
Parametric Uncertainties ◽  
Metal Composite ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Positioning Accuracy ◽  
Soft Actuator

The ionic polymer metal composite (IPMC) actuator is a kind of soft actuator that can work for underwater applications. However, IPMC actuator control suffers from high nonlinearity due to the existence of inherent creep and hysteresis phenomena. Furthermore, for underwater applications, they are highly exposed to parametric uncertainties and external disturbances due to the inherent characteristics and working environment. Those factors significantly affect the positioning accuracy and reliability of IPMC actuators. Hence, feedback control techniques are vital in the control of IPMC actuators for suppressing the system uncertainty and external disturbance. In this paper, for the first time an adaptive full-order recursive terminal sliding-mode (AFORTSM) controller is proposed for the IPMC actuator to enhance the positioning accuracy and robustness against parametric uncertainties and external disturbances. The proposed controller incorporates an adaptive algorithm with terminal sliding mode method to release the need for any prerequisite bound of the disturbance. In addition, stability analysis proves that it can guarantee the tracking error to converge to zero in finite time in the presence of uncertainty and disturbance. Experiments are carried out on the IPMC actuator to verify the practical effectiveness of the AFORTSM controller in comparison with a conventional nonsingular terminal sliding mode (NTSM) controller in terms of smaller tracking error and faster disturbance rejection.

scholarly journals Sliding mode control of the automobile electro-coating conveying mechanism with a nonlinear disturbance observer

2018 ◽  
Vol 10 (9) ◽  
pp. 168781401879574 ◽  
Author(s):  
Wei Yuan ◽  
Guoqin Gao
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
High Performance ◽  
Sliding Mode ◽  
External Disturbance ◽  
Nonlinear Disturbance Observer ◽  
Control Approach ◽  
Mode Control ◽  
Highly Nonlinear ◽  
Nonlinear Disturbance

The trajectory-tracking performance of the automobile electro-coating conveying mechanism is severely interrupted by highly nonlinear crossing couplings, unmodeled dynamics, parameter variation, friction, and unknown external disturbance. In this article, a sliding mode control with a nonlinear disturbance observer is proposed for high-accuracy motion control of the conveying mechanism. The nonlinear disturbance observer is designed to estimate not only the internal/external disturbance but also the model uncertainties. Based on the output of the nonlinear disturbance observer, a sliding mode control approach is designed for the hybrid series–parallel mechanism. Then, the stability of the closed-loop system is proved by means of a Lyapunov analysis. Finally, simulations with typical desired trajectory are presented to demonstrate the high performance of the proposed composite control scheme.

Super-twisting disturbance observer-based finite- time attitude stabilization of flexible spacecraft subject to complex disturbances

2018 ◽  
Vol 25 (5) ◽  
pp. 1008-1018 ◽  
Author(s):  
Ruidong Yan ◽  
Zhong Wu
Keyword(s):  
Attitude Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
State Variables ◽  
Attitude Dynamics ◽  
Attitude Control System ◽  
Terminal Sliding Mode ◽  
Nonlinear Disturbance Observer ◽  
Attitude Stabilization ◽  
Nonsingular Terminal Sliding Mode

There exist complex disturbances in the attitude control system of flexible spacecrafts, such as space environmental disturbances, flexible vibrations, inertia uncertainties, payload motions, etc. To suppress the effects of these disturbances on the performance of attitude stabilization, a super-twisting disturbance observer (STDO)-based nonsingular terminal sliding mode controller (NTSMC) is proposed in this paper. First, STDO is designed for a second-order dynamical system constructed by applying the lumped disturbance and its integral as state variables, and applying the integral as virtual measurement. Since the virtual measurement is obtained by integrating the inverse attitude dynamics, STDO not only avoids the differential operation of angular velocity, but also fully utilizes the information of a nonlinear model. By combining STDO with NTSMC, a composite controller is designed to achieve high-accuracy spacecraft attitude stabilization. Since most of the disturbances are compensated for by a STDO-based feedforward compensator, only a small switching gain is required to deal with the residual disturbances and uncertainties. Thus, the chattering phenomenon of the controller can be alleviated to a great extent. Finally, numerical simulations for the comparison between STDO-based NTSMC and nonlinear disturbance observer-based NTSMC are carried out in the presence of complex disturbances to verify the effectiveness of the proposed approach.

scholarly journals Design of Composite Disturbance Observer and Continuous Terminal Sliding Mode Control for Piezoelectric Nanopositioning Stage

Electronics ◽  
2021 ◽  
Vol 10 (18) ◽  
pp. 2242
Author(s):  
Pengyu Qiao ◽  
Jun Yang ◽  
Chen Dai ◽  
Xi Xiao
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Accurate Estimation ◽  
Terminal Sliding Mode Control ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Composite Control ◽  
Mode Control

The nonlinearities of piezoelectric actuators and external disturbances of the piezoelectric nanopositioning stage impose great, undesirable influences on the positioning accuracy of nanopositioning stage systems. This paper considers nonlinearities and external disturbances as a lumped disturbance and designs a composite control strategy for the piezoelectric nanopositioning stage to realize ultra-high precision motion control. The proposed strategy contains a composite disturbance observer and a continuous terminal sliding mode controller. The composite disturbance observer can estimate both periodic and aperiodic disturbances so that the composite control strategy can deal with the disturbances with high accuracy. Meanwhile, the continuous terminal sliding mode control is employed to eliminate the chattering phenomenon and speed up the convergence rate. The simulation and experiment results show that the composite control strategy achieves accurate estimation of different forms of disturbances and excellent tracking performance.

Research on Terminal Piecewise Sliding Mode for Excitation Control System Based on the Nonlinear Disturbance Observer

2014 ◽  
Vol 711 ◽  
pp. 297-302
Author(s):  
Xiao Feng Liu ◽  
Hong Zhang ◽  
He Qiao
Keyword(s):  
Disturbance Observer ◽  
Convergence Rates ◽  
Sliding Mode ◽  
Terminal Sliding Mode ◽  
Nonlinear Disturbance Observer ◽  
Disturbance Estimation ◽  
Guarantee System ◽  
Control Precision ◽  
Nonlinear Disturbance ◽  
High Control

Aiming at uncertainty and disturbance of the excitation system, we designed a kind of precise sliding mode controller with nonlinear disturbance observer that realized disturbance estimation and compensation. In order to obtain better convergence rates, based on the basis of fast terminal sliding mode surface, terminal piecewise sliding mode is adopted. Using the single machine infinite system, we have carried on the static and transient simulation. Simulation results show that control strategy adopted can guarantee system robustness to disturbance and has high control precision

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