scholarly journals Trajectory tracking control for chain-series robot manipulator: Robust adaptive fuzzy terminal sliding mode control with low-pass filter

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142091698 ◽  
Author(s):  
Pengcheng Wang ◽  
Dengfeng Zhang ◽  
Baochun Lu
Keyword(s):  
Trajectory Tracking ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Continuous Control ◽  
Terminal Sliding Mode ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Adaptive Fuzzy ◽  
Low Pass ◽  
Robust Adaptive

This article investigates a difficult problem which focuses on the external disturbance and dynamic uncertainty in the process of trajectory tracking. This article presents a robust adaptive fuzzy terminal sliding mode controller with low-pass filter. The low-pass filter can provide smooth position and speed signals. The fuzzy terminal sliding mode controller can achieve fast convergence and desirable tracking precision. Chattering is eliminated with continuous control law, due to high-frequency switching terms contained in the first derivative of actual control signals. Ignoring the prior knowledge upper bound, the controller can reduce the influence of the uncertain kinematics and dynamics in the actual situation. Finally, the experiment is carried out and the results show the performance of the proposed controller.

Adaptive back-stepping sliding mode guidance laws with autopilot dynamics and acceleration saturation consideration

2019 ◽  
Vol 233 (13) ◽  
pp. 4853-4863 ◽  
Author(s):  
Sheng-Tao Geng ◽  
Jie Zhang ◽  
Jing-Guang Sun
Keyword(s):  
Sliding Mode ◽  
Lyapunov Theory ◽  
Guidance System ◽  
Terminal Sliding Mode ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Guidance Law ◽  
Mode Method ◽  
Low Pass ◽  
Constraint Model

This paper studies the guidance scheme for the terminal guidance problem subject to input constraints, attack angle constraints, and second-order dynamics of missile autopilot. Firstly, the guidance system model with the above multi-constraint model is given. Secondly, an anti-saturation back-stepping guidance law which makes use of the low-pass filter to avoid the differential of the virtual control signals is designed based on the terminal sliding mode method, auxiliary system, and adaptive technique. Finally, Lyapunov theory and numerical simulations are utilized to prove that the states of the system under the proposed guidance law are uniformly ultimately bounded.

Robust fuzzy sliding mode control based on low pass filter for the welding robot with dynamic uncertainty

2019 ◽  
Vol 47 (1) ◽  
pp. 111-120
Author(s):  
Pengcheng Wang ◽  
Dengfeng Zhang ◽  
Baochun Lu
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Welding Robot ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Content Type ◽  
Mode Control ◽  
Dynamic Uncertainty ◽  
Low Pass

Purpose Considering the external disturbances and dynamic uncertainties during the process of the trajectory tracking, this paper aims to address the problem of the welding robot trajectory tracking with guaranteed accuracy. Design/methodology/approach The controller consists sliding mode control, fuzzy control and low pass filter. The controller adopts low-pass filter to reduce the high frequency chattering control signal in sliding mode control. The fuzzy control model is used to simulate the external disturbance signal and the dynamic uncertainty signal, so that the controller can effectively restrain the chattering caused by the sliding mode control algorithm, realizing the track of the welding robot effectively and improving the robustness of the robot. Findings An innovative experiment device was adopted to realize the performance of the proposed controller. Considering the kinematic and dynamic uncertainty during the process of robot tracking, the tracking accuracy was realized within 0.3 mm. Originality/value This paper uses Lyapunov stability theory and Barbalat theorem to analyze the stability of the proposed controller.

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