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第三十九届中国控制会议

作者： Dingxin He Haoping Wang Yang Tian School of Automation Nanjing University of Science and Technology

In this paper, a nonlinear extended state observer（NESO）-based model-free non-singular fast terminal sliding mode control（NESO-TSMC） is developed for trajectory tracking control and attitude control of a quadrotor UAV which is flying under wind and other external disturbances. In the proposed NESO-TSMC, the NESO is designed to provide the estimations of system states, lumped uncertainties and external disturbances of the system. With the designed NESO, a NESO-TSMC is proposed,such that tracking error converges to zero in a finite time. Finally, to present the performance of the proposed NESO-TSMC,numerical simulation results have been obtained and compared with results of PD, iPD, SM, MFSM controls.

关键词： Quadrotor UAV nonlinear Extended State Observer model-Free Control non-singular fast terminal sliding mode

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Dual sliding mode coordinated control of manipulator grasping system with visual assistance

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Control Theory and Technology 2024年第1期22卷 106-121页

作者： Pengxin Zhang Haisheng Yu Xiangxiang Meng Zhe Li Qing Yang Xunkai Gao College of Automation Qingdao UniversityQingdao266071ShandongChina Shandong Province Key Laboratory of Industrial Control Technology Qingdao266071ShandongChina

The operation efficiency of the manipulator is placed in the primary position in automatic production. This paper proposes a coordinated control strategy for joint servo and visual servo to enable timely transfer and accurate gripping in the working area. Aiming at the issues of chattering and slow convergence of traditional sliding mode controller, a fast variable power reaching rate on the basis of the non-singular fast terminal sliding mode controller is proposed, which can effectively reduce the convergence time and chattering. For the purpose of addressing the problem that the traditional visual servo control method is sensitive to the environment, a visual servo controller based on integral sliding mode is proposed, to ensure the favorable positioning accuracy of the manipulator. Based on the two proposed controllers mentioned above, a coordinated control strategy is used to implement the control of the manipulator. Finally, the upper computer software is developed using the C# programming language to monitor the workstation. The feasibility of the above-mentioned method is verified through multiple simulations and experiments.

关键词： Automatic production Joint servo Visual servo Coordinated control non-singular fast terminal sliding mode Integral sliding mode

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