scholarly journals Fast terminal sliding mode tracking control of nonlinear uncertain mass–spring system with experimental verifications

2019 ◽  
Vol 16 (1) ◽  
pp. 172988141982817 ◽  
Author(s):  
Saeed Amirkhani ◽  
Saleh Mobayen ◽  
Nahal Iliaee ◽  
Olfa Boubaker ◽  
S Hassan Hosseinnia
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Control Technique ◽  
Robust Tracking Control ◽  
Terminal Sliding Mode ◽  
Suggested Approach ◽  
Fast Terminal Sliding Mode ◽  
Spring System ◽  
Mass Spring

In this article, a fast terminal sliding mode control technique is used for robust tracking control of a nonlinear uncertain mass–spring system in the existence of external perturbation. This system is considered as a benchmark problem in the flexible joint mechanisms. The joints flexibility in the robotic systems creates one of the most significant sources of parametric uncertainties. The theory of Lyapunov stability is used for the formulation of the proposed control method, and the presence of the sliding around the switching surface is satisfied in the finite time. Simulation results as well as the experimental verifications prove the efficiency and applicability of the suggested approach in the presence of parametric uncertainty, noise, and exterior disturbance.

scholarly journals A Novel Fast Terminal Sliding Mode Tracking Control Methodology for Robot Manipulators

2020 ◽  
Vol 10 (9) ◽  
pp. 3010 ◽  
Author(s):  
Quang Vinh Doan ◽  
Anh Tuan Vo ◽  
Tien Dung Le ◽  
Hee-Jun Kang ◽  
Ngoc Hoai An Nguyen
Keyword(s):  
Tracking Control ◽  
High Performance ◽  
Control Method ◽  
Sliding Mode ◽  
Robot Manipulators ◽  
Convergence Time ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode ◽  
Uncertain Dynamics ◽  
Fast Terminal Sliding Mode

This paper comes up with a novel Fast Terminal Sliding Mode Control (FTSMC) for robot manipulators. First, to enhance the response, fast convergence time, against uncertainties, and accuracy of the tracking position, the novel Fast Terminal Sliding Mode Manifold (FTSMM) is developed. Then, a Supper-Twisting Control Law (STCL) is applied to combat the unknown nonlinear functions in the control system. By using this technique, the exterior disturbances and uncertain dynamics are compensated more rapidly and more correctly with the smooth control torque. Finally, the proposed controller is launched from the proposed sliding mode manifold and the STCL to provide the desired performance. Consequently, the stabilization and robustness criteria are guaranteed in the designed system with high-performance and limited chattering. The proposed controller runs without a precise dynamic model, even in the presence of uncertain components. The numerical examples are simulated to evaluate the effectiveness of the proposed control method for trajectory tracking control of a 3-Degrees of Freedom (DOF) robotic manipulator.

scholarly journals Stabilization of a Class of Nonlinear Underactuated Robotic Systems through Nonsingular Fast Terminal Sliding Mode Control

2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Yaobin Song ◽  
Hui Li ◽  
Xiaoling Shi
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Direct Method ◽  
Robotic Systems ◽  
Control Technique ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

To facilitate the stabilization of nonlinear underactuated robotic systems under perturbation, a novel nonsingular fast terminal sliding mode control method is proposed. Based on the system transformation into an integrator chain, the combination of twisting-like algorithm and a nonsingular fast terminal sliding mode control technique is employed to achieve the stabilization of the studied systems, which can drive the robot states (joint positions and velocities) to the desired region and then maintain the system at the equilibrium point in finite time. The robustness of the proposed method is validated by the Lyapunov direct method. Finally, numerical simulation results further demonstrate that the proposed method has better performance on the convergent speed of the system state (robot joint positions and velocities) than state-of-the-art methods, especially for the underactuated joints.

Design of a non-singular fast terminal sliding mode control for second-order nonlinear systems with compound disturbance

2021 ◽  
pp. 095440622110329
Author(s):  
Mohammad Reza Salehi Kolahi ◽  
Mohammad Reza Gharib ◽  
Ali Heydari
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Path Tracking ◽  
Second Order ◽  
Control Technique ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode ◽  
Compound Disturbance

This paper investigates a new disturbance observer based non-singular fast terminal sliding mode control technique for the path tracking and stabilization of non-linear second-order systems with compound disturbance. The compound disturbance is comprised of both parametric and non-parametric uncertainties. While warranting fast convergence rate and robustness, it also dominates the singularity and complex-value number issues associated with conventional terminal sliding mode control. Furthermore, due to the estimation properties of the observer, knowledge about the bounds of the uncertainties is not required. The simulation results of two case studies, the velocity and path tracking of an autonomous underwater vehicle and the stabilization of a chaotic Φ6-Duffing oscillator, validate the efficacy of the proposed method.

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.

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