Fractional-order nonsingular terminal sliding mode control of hydraulic manipulators using time delay estimation

2016 ◽  
Vol 22 (19) ◽  
pp. 3998-4011 ◽  
Author(s):  
Yaoyao Wang ◽  
Gaosheng Luo ◽  
Linyi Gu ◽  
Xiaodong Li
Keyword(s):  
Time Delay ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Hydraulic Manipulators ◽  
Nonsingular Terminal Sliding Mode

Practical continuous fractional-order nonsingular terminal sliding mode control of underwater hydraulic manipulators with valve deadband compensators

2018 ◽  
Vol 232 (4) ◽  
pp. 459-469 ◽  
Author(s):  
Yaoyao Wang ◽  
Bai Chen ◽  
Hongtao Wu
Keyword(s):  
Fractional Order ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Terminal Sliding Mode Control ◽  
Control Performance ◽  
Terminal Sliding Mode ◽  
Hydraulic Manipulators ◽  
Nonsingular Terminal Sliding Mode

For the multi-degrees of freedom control problem of underwater hydraulic manipulators with non-ignorable valve deadband and strong lumped nonlinearities and uncertainties, a practical continuous fractional-order nonsingular terminal sliding mode control design together with a deadband compensator is presented and studied. The presented method contains three parts a time delay estimation utilized to nearly estimate and compensate the extremely complicated system dynamics, a continuous fractional-order nonsingular terminal sliding mode used to ensure high control performance against the strong lumped nonlinearities and uncertainties, and a valve deadband compensator used to compensate for the non-ignorable valve deadband. The proposed method is model-free thanks to the time delay estimation, and can ensure satisfactory control performance thanks to the continuous fractional-order nonsingular terminal sliding mode and deadband compensator. Stability of the closed-loop control system including the deadband compensator is proved rigorously. Finally, practical 2-degrees of freedom experiments are performed, and corresponding results effectively demonstrate the superiorities of the newly presented controller with deadband compensator.

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