scholarly journals Parameter Adaptive Sliding Mode Trajectory Tracking Strategy with Initial Value Identification for the Swing in a Hydraulic Construction Robot

2022 ◽  
Author(s):  
Jingwei hou ◽  
Dingxuan Zhao ◽  
Zhuxin Zhang
Keyword(s):  
Trajectory Tracking ◽  
Sliding Mode ◽  
Estimation Algorithm ◽  
Robust Adaptive Control ◽  
Identification Algorithm ◽  
Initial Value ◽  
Robust Adaptive ◽  
Adaptive Control Strategy ◽  
The Moment ◽  
Tracking Strategy

Abstract A novel trajectory tracking strategy is developed for a double actuated swing in a hydraulic construction robot. Specifically, a nonlinear hydraulic dynamics model of a double actuated swing is established, and a robust adaptive control strategy is designed to enhance the trajectory tracking performance. When an object is grabbed and unloaded, the inertia of a swing considerably changes, and the performance of the estimation algorithm is generally inadequate. Thus, it is necessary to establish an algorithm to identify the initial value of the moment of inertia of the object. To this end, this paper proposes a novel initial value identification algorithm based on a two-DOF robot gravity force identification method combined with computer vision information. The performance of the identification algorithm is enhanced. Simulations and experiments are performed to verify the effect of the novel control scheme.

scholarly journals Parameter Adaptive Sliding Mode Trajectory Tracking Strategy With Initial Value Identification For Swing In A Hydraulic Construction Robot

2021 ◽  
Author(s):  
Jingwei hou ◽  
Dingxuan Zhao ◽  
Zhuxin Zhang
Keyword(s):  
Trajectory Tracking ◽  
Sliding Mode ◽  
Adaptive Estimation ◽  
Estimation Algorithm ◽  
Hydraulic Cylinder ◽  
Robust Adaptive Control ◽  
Identification Algorithm ◽  
Initial Value ◽  
Tracking Strategy ◽  
Parameter Adaptive

Abstract A novel trajectory tracking strategy is developed for the swing DOF with double actuated cylinder in a hydraulic construct robot. When the work object is grabbed and unload, the inertia parameter of swing varies greatly and the estimation algorithm is commonly insufficient. Aiming at this feature, a novel nonlinear hydraulic dynamics model is established for the double actuated hydraulic cylinder in the system and a robust adaptive control strategy with parameter adaptive estimation is designed to improve the trajectory tracking performance. Aiming at the problem of insufficient convergence speed of the identification algorithm, a method of robotic gravity identification combined with stereo vision information is proposed to obtain the mass and moment of inertia parameters of the working object so that the initial value is close to the real value. Simulations and experiments are presented to validate the effect of the novel strategy.

Robust Adaptive Trajectory Control for an Omnidirectional Vehicle

2013 ◽  
Vol 284-287 ◽  
pp. 1919-1923
Author(s):  
Ya Chao Yang ◽  
Chi Cheng Cheng ◽  
Chin Yin Chen
Keyword(s):  
Sliding Mode ◽  
Trajectory Control ◽  
Robust Adaptive Control ◽  
Tracking Performance ◽  
Sliding Mode Controller ◽  
Vehicle System ◽  
Control Scheme ◽  
Asymptotic Tracking ◽  
Robust Adaptive ◽  
Adaptive Control Strategy

In this paper, a robust adaptive control strategy is proposed for trajectory control of an omnidirectional vehicle with three omni-wheels, which have the ability to move simultaneously with independently rotational motion. Actuators of the omnidirectional vehicle contain uncertainties and their parameters are unknown. By the Lyapunov stability, the asymptotic tracking performance can be assured. The proposed control scheme is demonstrated by actual tracking experiments using the omnidirectional vehicle system. Experimental results showed promising tracking performance for the proposed method as compared to traditional sliding mode controller.

Robust Adaptive Compensation for a Class of Nonlinear Systems

1998 ◽  
Vol 124 (1) ◽  
pp. 231-234 ◽  
Author(s):  
Hongliu Du ◽  
Satish S. Nair
Keyword(s):  
Nonlinear Systems ◽  
Adaptive Design ◽  
Sliding Mode ◽  
Design Method ◽  
Design Guidelines ◽  
Robust Adaptive Control ◽  
Control Law ◽  
Case System ◽  
Robust Adaptive ◽  
Adaptive Control Strategy

A robust adaptive design method is proposed for the on-line compensation of uncertainties, for a class of nonlinear systems. As an extension of previous work, the adaptive part of the control law uses a constructive Gaussian network without any prior training, and the control law provides robustness using a systematically designed sliding mode term. In the design, learning and control bounds are guaranteed by properly constructing the control architecture using the proposed methods. The robust adaptive control strategy, with the proposed design guidelines, has been validated using a hardware example case of a nonlinear robotic linkage system. Experiments have shown that the inclusion of the proposed stable learning and robust terms into the control design, using the proposed constructive methods, results in improved system performance for the example case system.

Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

2021 ◽  
pp. 095965182110277
Author(s):  
Abdelkrim Brahmi ◽  
Maarouf Saad ◽  
Brahim Brahmi ◽  
Ibrahim El Bojairami ◽  
Guy Gauthier ◽  
...  
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Robust Adaptive Control ◽  
Convergence Time ◽  
Adaptive Sliding Mode Control ◽  
Mobile Manipulator ◽  
Control Law ◽  
Adaptive Tracking Control ◽  
Robust Adaptive ◽  
Manipulator Robot

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

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.

Robust Adaptive Control of Nonlinear Output Feedback Systems Under Disturbances With Unknown Bounds

2004 ◽  
Vol 126 (1) ◽  
pp. 229-235 ◽  
Author(s):  
Dong H. Kim ◽  
Hua O. Wang ◽  
Hai-Won Yang
Keyword(s):  
Output Feedback ◽  
State Feedback ◽  
Sliding Mode ◽  
Design Procedure ◽  
Adaptation Strategy ◽  
Robust Adaptive Control ◽  
Feedback Systems ◽  
Adaptive Controllers ◽  
Robust Adaptive ◽  
And Control

This paper describes a systematic procedure to design robust adaptive controllers for a class of nonlinear systems with unknown functions of unknown bounds based on backstepping and sliding mode techniques. These unknown functions can be unmodeled system nonlinearities, uncertainties and disturbances with unknown bounds. Both state feedback and output feedback designs are addressed. In the design procedure, the upper bounds of the unknown functions are estimated using an adaptation strategy, and the estimates are used to design stabilizing functions and control inputs based on the backstepping design methodology. The proposed controllers guarantee that the tracking errors converge to a residual set close to zero exponentially for both state feedback and output feedback designs, while maintaining the boundedness of all other variables.

ADAPTIVE SYNCHRONIZATION OF CHAOTIC SYSTEMS VIA STATE OR OUTPUT FEEDBACK CONTROL

2001 ◽  
Vol 11 (04) ◽  
pp. 1149-1158 ◽  
Author(s):  
YIGUANG HONG ◽  
HUASHU QIN ◽  
GUNARONG CHEN
Keyword(s):  
Output Feedback ◽  
Chaotic Systems ◽  
Sliding Mode ◽  
Output Feedback Control ◽  
Robust Adaptive Control ◽  
Adaptive Synchronization ◽  
Feedback Controls ◽  
Adaptive Controllers ◽  
Modification Technique ◽  
Robust Adaptive

This letter addresses the problem of robust adaptive control for synchronization of continuous-time coupled chaotic systems, which may be subjected to disturbances. A general model is studied via two different approaches, using either state feedback or measured output feedback controls. Adaptive controllers are designed, in which a sliding mode structure is employed to increase the robustness of the closed-loop systems. When only output variables are measurable for synchronization, the adaptive controllers are designed by incorporating with a filter and using the so-called σ-modification technique. Several numerical examples are presented to show the effectiveness of the proposed chaos synchronization methods.

Robust adaptive control and observer for a robot with pneumatic actuators

Robotica ◽  
2002 ◽  
Vol 20 (2) ◽  
pp. 167-173 ◽  
Author(s):  
F. Errahimi ◽  
H. Cherrid ◽  
N. K. M'Sirdi ◽  
H. Abarkane
Keyword(s):  
Adaptive Control ◽  
Sliding Mode ◽  
Upper Bounds ◽  
Robust Adaptive Control ◽  
Physical Parameters ◽  
Convergence Conditions ◽  
Pneumatic Actuators ◽  
Precise Knowledge ◽  
Robot Leg ◽  
Robust Adaptive

In this paper, the robust adaptive control and observer are considered for a pneumatic robot leg. This approach does not require a precise knowledge of the robot model physical parameters, only the adaptive upper bounds on the norm of the matrices model are used, which with the sliding mode guarantee the robustness of system. Convergence conditions and simulation results for the adaptive control and observer are presented.

scholarly journals A Discrete RMRAC-STSM Controller for Current Regulation of Three-Phase Grid-Tied Converters with LCL filter

2021 ◽  
Author(s):  
GUILHERME VIEIRA HOLLWEG ◽  
PAULO JEFFERSON DIAS DE OLIVEIRA EVALD ◽  
EVERSON MATTOS ◽  
RODRIGO VARELLA TAMBARA ◽  
HILTON ABíLIO GRüNDLING
Keyword(s):  
Control Structure ◽  
Reference Model ◽  
Sliding Mode ◽  
Adaptive Controller ◽  
Current Control ◽  
Robust Adaptive Control ◽  
Lcl Filter ◽  
Robust Model ◽  
Three Phase ◽  
Robust Adaptive

This article presents a discrete robust adaptive control structure, gathering a Robust Model Reference Adaptive Controller (RMRAC) with an adaptive Super-Twisting Sliding Mode (STSM) controller. The resulting control structure is applied to current control of a voltage-fed three-phase inverter, connected to the grid by an LCL filter. The main contribution of this control proposal is its adaptability, maintaining the robustness characteristics of the controllers that compose it with good regulation performance. Moreover, as the adaptive Sliding Mode action is high-order (Super-Twisting), the chattering phenomenon is significantly mitigated. Thereby, its implementation is simplified, using a first order reference model. For this, the dynamics of the LCL filter capacitors are neglected during the modeling process, considering it as an additive unmodeled dynamics. To validate the viability of the proposed control structure, Hardware in the Loop (HIL) results are presented.

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