Robust Guidance Control for Nonholonomic AGV Based on First Order Dynamic Sliding Mode Techniques

2013 ◽  
Vol 709 ◽  
pp. 583-588
Author(s):  
Jin Hua Ye ◽  
Di Li ◽  
Shi Yong Wang ◽  
Feng Ye
Keyword(s):  
High Performance ◽  
Sliding Mode ◽  
Path Following ◽  
Lyapunov Theory ◽  
External Disturbances ◽  
Guidance Control ◽  
First Order ◽  
Control Scheme ◽  
The Impact ◽  
Dynamic Sliding Mode

This paper develops a high performance guidance controller for automated guided vehicle (AGV) with nonholonomic constraint. In this controller, the path following method in the Serret-Frenet frame is used for driving the AGV onto a predefined path at a constant forward speed. Moreover, a first order dynamic sliding mode controller is proposed, not only to overcome the impact of unknown model uncertainties and external disturbances of the system, but also to weaken the chattering in the standard sliding mode control. The global asymptotic stability and robustness of the system is proven by the Lyapunov theory and LaSalles invariance principle. Simulation results show the validity of the proposed guidance control scheme.

Switch-Based Sliding Mode Control for Position-Based Visual Servoing of Robotic Riveting System

2016 ◽  
Vol 139 (4) ◽  
Author(s):  
Yi Min Zhao ◽  
Yu Lin ◽  
Fengfeng Xi ◽  
Shuai Guo ◽  
Puren Ouyang
Keyword(s):  
Visual Servoing ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Path Following ◽  
External Disturbances ◽  
Control Scheme ◽  
Riveting Process ◽  
The Stability ◽  
Time Required ◽  
Two Stages

The robotic riveting system requires a rivet robotic positioning process for rivet-in-hole insertions, which can be divided into two stages: rivet path-following and rivet spot-positioning. For the first stage, varying parameter-linear sliding surfaces are proposed to achieve robust rivet path-following against robot errors and external disturbances of the robotic riveting system. For the second stage, a second-order sliding surface is applied to attain accurate rivet spot-positioning within a finite time required by the riveting process. In order to improve the dynamic performance of the robot riveting system, the motion of robot end-effector between the two adjacent riveting spots has been properly designed. Overall, the proposed control scheme can guarantee not only the stability of the robot control system but also the robust rivet path-following and quick rivet spot-positioning in the presence of the robot errors and external disturbances of the robotic riveting system. The simulation and experimental results demonstrate the effectiveness of the proposed control scheme.

scholarly journals An Adaptive Hierarchical Sliding Mode Controller for Autonomous Underwater Vehicles

Electronics ◽  
2021 ◽  
Vol 10 (18) ◽  
pp. 2316
Author(s):  
Quang Van Vu ◽  
Tuan Anh Dinh ◽  
Thien Van Nguyen ◽  
Hoang Viet Tran ◽  
Hai Xuan Le ◽  
...  
Keyword(s):  
Adaptive Learning ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Lyapunov Theory ◽  
Control Technique ◽  
External Disturbances ◽  
Control Scheme ◽  
Hierarchical Sliding Mode ◽  
Over Time

The paper addresses a problem of efficiently controlling an autonomous underwater vehicle (AUV), where its typical underactuated model is considered. Due to critical uncertainties and nonlinearities in the system caused by unavoidable external disturbances such as ocean currents when it operates, it is paramount to robustly maintain motions of the vehicle over time as expected. Therefore, it is proposed to employ the hierarchical sliding mode control technique to design the closed-loop control scheme for the device. However, exactly determining parameters of the AUV control system is impractical since its nonlinearities and external disturbances can vary those parameters over time. Thus, it is proposed to exploit neural networks to develop an adaptive learning mechanism that allows the system to learn its parameters adaptively. More importantly, stability of the AUV system controlled by the proposed approach is theoretically proved to be guaranteed by the use of the Lyapunov theory. Effectiveness of the proposed control scheme was verified by the experiments implemented in a synthetic environment, where the obtained results are highly promising.

Robust neural network control of MEMS gyroscope using adaptive sliding mode compensator

Robotica ◽  
2014 ◽  
Vol 34 (3) ◽  
pp. 497-512 ◽  
Author(s):  
Juntao Fei ◽  
Yuzheng Yang
Keyword(s):  
Neural Network ◽  
Upper Bound ◽  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Modeling Error ◽  
External Disturbances ◽  
Mems Gyroscope ◽  
Control Scheme ◽  
The Impact

SUMMARYA new robust neural sliding mode (RNSM) tracking control scheme using radial basis function (RBF) neural network (NN) is presented for MEMS z-axis gyroscope to achieve robustness and asymptotic tracking error convergence. An adaptive RBF NN controller is developed to approximate and compensate the large uncertain system dynamics, and a robust compensator is designed to eliminate the impact of NN modeling error and external disturbances for guaranteeing the asymptotic stability property. Moreover, another RBF NN is employed to learn the upper bound of NN modeling error and external disturbances, so the prior knowledge of the upper bound of system uncertainties is not required. All the adaptive laws in the RNSM control system are derived in the same Lyapunov framework, which can guarantee the stability of the closed loop system. Comparative numerical simulations for an MEMS gyroscope are investigated to verify the effectiveness of the proposed RNSM tracking control scheme.

A fault-tolerant control scheme within adaptive disturbance observer for hypersonic vehicle

2017 ◽  
Vol 233 (3) ◽  
pp. 1071-1088 ◽  
Author(s):  
Jun Zhou ◽  
Jing Chang ◽  
Zongyi Guo
Keyword(s):  
Disturbance Observer ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Performance Guarantees ◽  
Uncertain Model ◽  
Control Scheme ◽  
And Performance

The paper describes the design of a fault-tolerant control scheme for an uncertain model of a hypersonic reentry vehicle subject to actuator faults. In order to improve superior transient performances for state tracking, the proposed method relies on a back-stepping sliding mode controller combined with an adaptive disturbance observer and a reference vector generator. This structure allows for a faster response and reduces the overshoots compared to linear conventional disturbance observers based sliding mode controller. Robust stability and performance guarantees of the overall closed-loop system are obtained using Lyapunov theory. Finally, numerical simulations results illustrate the effectiveness of the proposed technique.

scholarly journals A Novel Modified Super-Twisting Control Augmented Feedback Linearization for Wearable Robotic Systems Using Time Delay Estimation

Micromachines ◽  
2021 ◽  
Vol 12 (6) ◽  
pp. 597
Author(s):  
Brahim Brahmi ◽  
Ibrahim El Bojairami ◽  
Tanvir Ahmed ◽  
Asif Al Zubayer Swapnil ◽  
Mohammad AssadUzZaman ◽  
...  
Keyword(s):  
Time Delay ◽  
Feedback Linearization ◽  
High Performance ◽  
Time Delay Estimation ◽  
Robotic Systems ◽  
External Disturbances ◽  
Uncertain Dynamics ◽  
Control Scheme ◽  
Twisting Control ◽  
Dynamics Stability

The research presents a novel controller designed for robotic systems subject to nonlinear uncertain dynamics and external disturbances. The control scheme is based on the modified super-twisting method, input/output feedback linearization, and time delay approach. In addition, to minimize the chattering phenomenon and ensure fast convergence to the selected sliding surface, a new reaching law has been integrated with the control law. The control scheme aims to provide high performance and enhanced accuracy via limiting the effects brought by the presence of uncertain dynamics. Stability analysis of the closed-loop system was conducted using a powerful Lyapunov function, showing finite time convergence of the system’s errors. Lastly, experiments shaping rehabilitation tasks, as performed by healthy subjects, demonstrated the controller’s efficiency given its uncertain nonlinear dynamics and the external disturbances involved.

scholarly journals Finite-Time Path Following Control of an Underactuated Marine Surface Vessel with Input and Output Constraints

2020 ◽  
Vol 10 (18) ◽  
pp. 6447
Author(s):  
Mingyu Fu ◽  
Lulu Wang
Keyword(s):  
Finite Time ◽  
Input Saturation ◽  
Path Following ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Time Path ◽  
Path Following Control ◽  
Control Scheme ◽  
Marine Surface ◽  
Surface Vessel

This paper develops a finite-time path following control scheme for an underactuated marine surface vessel (MSV) with external disturbances, model parametric uncertainties, position constraint and input saturation. Initially, based on the time-varying barrier Lyapunov function (BLF), the finite-time line-of-sight (FT-LOS) guidance law is proposed to obtain the desired yaw angle and simultaneously constrain the position error of the underactuated MSV. Furthermore, the finite-time path following constraint controllers are designed to achieve tracking control in finite time. Additionally, considering the model parametric uncertainties and external disturbances, the finite-time disturbance observers are proposed to estimate the compound disturbance. For the sake of avoiding the input saturation and satisfying the requirements of finite-time convergence, the finite-time input saturation compensators were designed. The stability analysis shows that the proposed finite-time path following control scheme can strictly guarantee the constraint requirements of the position, and all error signals of the whole control system can converge into a small neighborhood around zero in finite time. Finally, comparative simulation results show the effectiveness and superiority of the proposed finite-time path following control scheme.

Real-time nonlinear speed control of an induction motor based on a new advanced integral backstepping approach

2019 ◽  
Vol 42 (2) ◽  
pp. 244-258 ◽  
Author(s):  
Bilel Aichi ◽  
Mohamed Bourahla ◽  
Khedidja Kendouci ◽  
Benyounes Mazari
Keyword(s):  
Real Time ◽  
Induction Motor ◽  
High Performance ◽  
Control Method ◽  
Current Control ◽  
Lyapunov Theory ◽  
External Disturbances ◽  
Low Speed ◽  
Backstepping Approach ◽  
Time Motor

This work proposes a robust control scheme of a three-phase induction motor using a new Backstepping approach based on variable gains. Because of the saturation blocks that are essential to protect the control system, the use of conventional integral Backstepping could lead to a modest performance represented by overshooting and strong vibrations in transitional regimes that cause overcurrent. To develop an efficient and simple control algorithm, the variable gains propriety is used in the speed controller to offer a quick response without overshooting with good robustness against external disturbances. The same property has been introduced in current regulation by a different mean in order to develop a new solution to solve obstacles related to very low-speed operations. The asymptotic stability of the global control is proven by Lyapunov theory. The improvement of the new version compared with the classical one was verified by a brief comparative study based on simulation results. The proposed algorithm has been implemented in a dSPACE DS 1104 card, to analyze the real-time motor performance, and to test control sensitivity against parametric variations. The obtained results show a remarkable improvement of the new control concerning rapidity and stability of transient regimes, overtaking elimination and reduction of starting current, with a low algorithm sensitivity against parametric variations. We have also been able to confirm that the new current control method can guarantee optimal regulation in order to achieve a high-performance operation at very low-speed zones, in the presence of various internal and external disturbances.

scholarly journals Disturbance Observer-Based Nonsingular Terminal Sliding Mode Control for Spacecraft Electromagnetic Docking

2020 ◽  
Vol 2020 ◽  
pp. 1-20
Author(s):  
Jinghui Zhang ◽  
Guoqiang Zeng ◽  
Shifeng Zhang
Keyword(s):  
Sliding Mode Control ◽  
Magnetic Moment ◽  
Disturbance Observer ◽  
Field Model ◽  
Sliding Mode ◽  
Far Field ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Control Scheme ◽  
On Line

This paper presents a novel nonlinear sliding mode control scheme that combines on-line model modification, a nonlinear sliding mode controller, and a disturbance observer to solve the essential problems in spacecraft electromagnetic docking control, such as model uncertainties, unknown external disturbances, and inherent strong nonlinearity and coupling. An improved far-field model of electromagnetic force which is much more accurate than the widely used far-field model is proposed to enable the model parameters to be on-line self-adjusting. Then, the relationship between magnetic moment allocation and energy consumption is derived, and the optimal direction of the magnetic moment vector is obtained. Based on the proposed improved far-field model and the research results of magnetic moment allocation law, a fast-nonsingular terminal mode controller driven by a disturbance observer is designed in the presence of model uncertainties and external disturbances. The proposed control method is guaranteed to be chattering-free and to possess superior properties such as finite-time convergence, high-precision tracking, and strong robustness. Two simulation scenarios are conducted to illustrate the necessity of modifying the far-field model and the effectiveness of the proposed control scheme. The simulation results indicate the realization of electromagnetic soft docking and validate the merits of the proposed control scheme. In the end of this paper, some conclusions are drawn.

scholarly journals Robust Synchronization of Incommensurate Fractional-Order Chaotic Systems via Second-Order Sliding Mode Technique

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Hua Chen ◽  
Wen Chen ◽  
Binwu Zhang ◽  
Haitao Cao
Keyword(s):  
Fractional Order ◽  
Chaotic Systems ◽  
Controller Design ◽  
Sliding Mode ◽  
Second Order ◽  
External Disturbances ◽  
Globally Asymptotically Stable ◽  
Control Scheme ◽  
Chattering Free ◽  
Second Order Sliding Mode

A second-order sliding mode (SOSM) controller is proposed to synchronize a class of incommensurate fractional-order chaotic systems with model uncertainties and external disturbances. Based on the chattering free SOSM control scheme, it can be rigorously proved that the dynamics of the synchronization error is globally asymptotically stable by using the Lyapunov stability theorem. Finally, numerical examples are provided to illustrate the effectiveness of the proposed controller design approach.

Adaptive non-singular terminal sliding mode controller: new design for full control of the quadrotor with external disturbances

2016 ◽  
Vol 39 (3) ◽  
pp. 371-383 ◽  
Author(s):  
Alireza Modirrousta ◽  
Mahdi Khodabandeh
Keyword(s):  
Position Control ◽  
Sliding Mode ◽  
Control Input ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Nonlinear Disturbance Observer ◽  
Tuning Method ◽  
Regular Control ◽  
Control Scheme ◽  
Sliding Mode Controllers

This paper proposes two different adaptive robust sliding mode controllers for attitude, altitude and position control of a quadrotor. Firstly, it proposes a backstepping non-singular terminal sliding mode control with an adaptive algorithm that is applied to the quadrotor for free chattering, finite time convergence and robust aims. In this control scheme instead of regular control input, the derivative of the control input is achieved from a non-singular terminal second-layer sliding surface. An adaptive tuning method is utilized to deal with the external disturbances whose upper bounds are not required to be known in advance in the inner loop. Secondly, a nonlinear disturbance observer based on the integral sliding mode with adaptive gains is proposed for position control, which is known as the outer loop. Stability and robustness of the proposed controller are proved by using the classical Lyapunov criterion. The simulation results demonstrate the validation of the proposed control scheme.

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