scholarly journals Research on trajectory tracking control of manipulator based on modified terminal sliding mode with double power reaching law

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141984789 ◽  
Author(s):  
Yan Xia ◽  
Wei Xie ◽  
Jiachen Ma
Keyword(s):  
Control Strategy ◽  
Finite Time ◽  
Sliding Mode ◽  
Practical Implementation ◽  
Sliding Surface ◽  
Initial State ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode ◽  
Reaching Law ◽  
Terminal Sliding Surface

This article proposes a control strategy that combines the double power reaching law with the modified terminal sliding mode for tracking tasks of rigid robotic manipulators quickly and accurately. As a significant novelty, double power reaching law can reach the sliding surface in finite time when the system is in any initial state. At the same time, modified terminal sliding surface guarantees the system that position and velocity error converge to be zero approximately. In other words, the control law is able to make the system slip to the equilibrium point in a finite time and improves the speed of the system approaching and sliding modes. The simulation results demonstrate the practical implementation of the control strategy, verify its robustness of more accurate tracking and faster disturbance rejection, and weaken the chattering phenomenon more effectively compared with the conventional terminal sliding mode controller.

scholarly journals Influence of Control Strategy in Risk Mitigation of Building Damage Due to Earthquake

2021 ◽  
Author(s):  
Normaisharah Mamat ◽  
Mohd Fauzi Othman ◽  
Mohd Fitri Mohd Yakub
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Structural Integrity ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Building Structures ◽  
Sliding Surface ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode

Abstract Building structures are prone to damage due to natural disasters, and this challenges structural engineers to design safer and more robust building structures. This study is conducted to prevent these consequences by implementing a control strategy that can enhance a building's stability and reduce the risk of damage. Therefore, to realize the structural integrity of a building, a hybrid control device is equipped with control strategies to enhance robustness. The control strategy proposed in this study is adaptive nonsingular terminal sliding mode control (ANTSMC). ANTSMC is an integrated controller of radial basis function neural network (RBFNN) and nonsingular terminal sliding mode control (NTSMC), which has a fast dynamic response, finite-time convergence, and the ability to enhance the control performance against a considerable uncertainty. The proposed controller is designed based on the sliding surface and the control law. The building with a two-degree-of-freedom (DOF) system is designed in Matlab/Simulink and validated with the experimental work connected to the LMSTest.Lab software. The performance of this controller is compared with those of the terminal sliding mode control (TSMC) and NTSMC in terms of the displacement response, sliding surface, and the probability of damage. The result showed that the proposed controller, ANTSMC can suppress vibrations up to 46%, and its percentage probability of complete damage is 15% from the uncontrolled structure. Thus, these findings are imperative towards increasing the safety level in building structures and occupants, and reducing damage costs in the event of a disaster.

scholarly journals Robust Adaptive Fractional Fast Terminal Sliding Mode Controller for Microgyroscope

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-18
Author(s):  
Juntao Fei ◽  
Zhe Wang ◽  
Xiao Liang
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Finite Convergence ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode ◽  
Robust Adaptive ◽  
System States ◽  
Terminal Sliding Surface

In this paper, a robust adaptive fractional fast terminal sliding mode controller is introduced into the microgyroscope for accurate trajectory tracking control. A new fast terminal switching manifold is defined to ensure fast finite convergence of the system states, where a fractional-order differentiation term emerges into terminal sliding surface, which additionally generates an extra degree of freedom and leads to better performance. Adaptive algorithm is applied to estimate the damping and stiffness coefficients, angular velocity, and the upper bound of the lumped nonlinearities. Numerical simulations are presented to exhibit the validity of the proposed method, and the comparison with the other two methods illustrates its superiority.

Wavelet neural network-based H∞trajectory tracking for robot manipulators using fast terminal sliding mode control

Robotica ◽  
2016 ◽  
Vol 35 (7) ◽  
pp. 1488-1503 ◽  
Author(s):  
Vikas Panwar
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Sliding Mode ◽  
Tracking Error ◽  
Tracking Performance ◽  
Robot Dynamics ◽  
Terminal Sliding Mode Control ◽  
Sliding Surface ◽  
Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode

SUMMARYThis paper focuses on fast terminal sliding mode control (FTSMC) of robot manipulators using wavelet neural networks (WNN) with guaranteed H∞tracking performance. The FTSMC for trajectory tracking is employed to drive the tracking error of the system to converge to an equilibrium point in finite time. The tracking error arrives at the sliding surface in finite time and then converges to zero in finite time along the sliding surface. To deal with the case of uncertain and unknown robot dynamics, a WNN is proposed to fully compensate the robot dynamics. The online tuning algorithms for the WNN parameters are derived using Lyapunov approach. To attenuate the effect of approximation errors to a prescribed level, H∞tracking performance is proposed. It is shown that the proposed WNN is able to learn the system dynamics with guaranteed H∞tracking performance and finite time convergence for trajectory tracking. Finally, the simulation results are performed on a 3D-Microbot manipulator to show the effectiveness of the controller.

scholarly journals Finite-Time Consensus Algorithm for Multiple Nonholonomic Disturbed Systems with Its Application

2015 ◽  
Vol 2015 ◽  
pp. 1-10 ◽  
Author(s):  
Shang Shi ◽  
Xin Yu ◽  
Guohai Liu
Keyword(s):  
Control Strategy ◽  
Finite Time ◽  
Sliding Mode ◽  
Nonholonomic Systems ◽  
Consensus Algorithm ◽  
Nonholonomic Mobile Robots ◽  
Terminal Sliding Mode ◽  
Consensus Algorithms ◽  
Disturbed Systems ◽  
Switching Control Strategy

This paper deals with the problem of finite-time consensus of multiple nonholonomic disturbed systems. To accomplish this problem, the multiple nonholonomic systems are transformed into two multiple subsystems, and these two multiple subsystems are studied, respectively. For these two multiple subsystems, the terminal sliding mode (TSM) algorithms are designed, respectively, which achieve the finite-time reaching of sliding surface. Next, a switching control strategy is proposed to guarantee the finite-time consensus of all the states for multiple nonholonomic systems with disturbances. Finally, we demonstrate the effectiveness of the proposed consensus algorithms with application to multiple nonholonomic mobile robots.

scholarly journals Finite-Time Terminal Sliding Mode Tracking Control of a VTOL UAV via the Generalized NDOB

2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Lu Wang ◽  
Jianhua Cheng
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Convergence Result ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode ◽  
Loop Control ◽  
Finite Time Convergence ◽  
Vtol Uav

In this paper, we propose a finite-time sliding mode trajectory tracking control methodology for the vertical takeoff and landing unmanned aerial vehicle (VTOL UAV). Firstly, a system error model of trajectory tracking task is established based on Rodrigues parameters by considering both external and internal uncertainties. According to the cascade property, the system model is divided into translational and rotational subsystems, and a hierarchical control structure is hence proposed. Then, a finite-time generalized nonlinear disturbance observer (NDOB) is proposed, based on which the finite-time convergence result of equivalent disturbance estimation can be acquired. Finally, by introducing a tan-type compensator into the traditional terminal sliding mode control (SMC), the finite-time convergence result of the closed-loop control system is acquired based on Lyapunov stability analysis. Simulation results show the effectiveness of the proposed methodology.

Continuous reaching law based three-dimensional finite-time guidance law against maneuvering targets

2018 ◽  
Vol 41 (2) ◽  
pp. 321-339 ◽  
Author(s):  
Yu-Jie Si ◽  
Shen-Min Song
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Traditional Approach ◽  
Three Dimensional ◽  
Terminal Sliding Mode ◽  
Reaching Law ◽  
Closed Loop Systems ◽  
Guidance Law ◽  
Effective Performance ◽  
Guidance Laws

Three-dimensional finite-time guidance laws are proposed in this paper. Differing from the traditional approach that considers homing guidance problems as two identical and perpendicular channels, guidance laws proposed in this paper employ the coupled three-dimensional engagement dynamics to improve the guidance precision. A new reaching law is adopted to guarantee guidance laws continuous, which eliminates the chattering phenomenon caused by discontinuous terms. Moreover, the guidance law accelerates the convergence rate of closed-loop systems and avoids the singularity. Afterwards, the paper discusses the problem that the upper bound of the lumped uncertainty including the target information is unavailable. Therefore, to deal with this problem, another adaptive guidance law is presented, which can also guarantee the finite-time convergence of guidance systems. Numerical simulations have demonstrated that the two guidance laws have effective performance and outperform traditional terminal sliding mode guidance laws.

scholarly journals Synchronization of Two Fractional-Order Chaotic Systems via Nonsingular Terminal Fuzzy Sliding Mode Control

2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Xiaona Song ◽  
Shuai Song ◽  
Ines Tejado Balsera ◽  
Leipo Liu ◽  
Lei Zhang
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Finite Time ◽  
Chaotic Systems ◽  
Sliding Mode ◽  
Sliding Surface ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Fuzzy Sliding Mode ◽  
Terminal Sliding Surface

The synchronization of two fractional-order complex chaotic systems is discussed in this paper. The parameter uncertainty and external disturbance are included in the system model, and the synchronization of the considered chaotic systems is implemented based on the finite-time concept. First, a novel fractional-order nonsingular terminal sliding surface which is suitable for the considered fractional-order systems is proposed. It is proven that once the state trajectories of the system reach the proposed sliding surface they will converge to the origin within a given finite time. Second, in terms of the established nonsingular terminal sliding surface, combining the fuzzy control and the sliding mode control schemes, a novel robust single fuzzy sliding mode control law is introduced, which can force the closed-loop dynamic error system trajectories to reach the sliding surface over a finite time. Finally, using the fractional Lyapunov stability theorem, the stability of the proposed method is proven. The proposed method is implemented for synchronization of two fractional-order Genesio-Tesi chaotic systems with uncertain parameters and external disturbances to verify the effectiveness of the proposed fractional-order nonsingular terminal fuzzy sliding mode controller.

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