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Time delay control of hydraulic manipulators with continuous nonsingular terminal sliding mode

Journal of Central South University 2015年第12期22卷 4616-4624页

作者：王尧尧陈家旺顾临怡李晓东 State Key Laboratory of Fluid Power Transmission and Control (Zhejiang University) Ocean College Zhejiang University

For the position tracking control of hydraulic manipulators,a novel method of time delay control(TDC) with continuous nonsingular terminal sliding mode(CNTSM) was proposed in this *** dynamics of the hydraulic manipulator is approximately canceled by time delay estimation(TDE),which means the proposed method is model-free and no prior knowledge of the dynamics is ***,the CNTSM term with a fast-TSM-type reaching law ensures fast convergence and high-precision tracking control performance under heavy lumped *** its considerable robustness against lumped uncertainties,the proposed control scheme is continuous and chattering-free and no pressure sensors are required in practical *** analysis and experimental results show that faster and higher-precision position tracking performance is achieved compared with the traditional CNTSM-based TDC method using boundary layers.

关键词： time delay control terminal sliding mode model-free hydraulic manipulators

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Adaptive Backstepping terminal sliding mode Control Method Based on Recurrent Neural Networks for Autonomous Underwater Vehicle

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Chinese Journal of Mechanical Engineering 2018年第6期31卷 228-243页

作者： Chao Yang Feng Yao Ming-Jun Zhang College of Mechanical and Electrical Engineering Harbin Engineering University Harbin 150001 China

The trajectory tracking control problem is addressed for autonomous underwater vehicle(AUV) in marine environ?ment, with presence of the influence of the uncertain factors including ocean current disturbance, dynamic modeling uncertainty, and thrust model errors. To improve the trajectory tracking accuracy of AUV, an adaptive backstepping terminal sliding mode control based on recurrent neural networks(RNN) is proposed. Firstly, considering the inaccu?rate of thrust model of thruster, a Taylor’s polynomial is used to obtain the thrust model errors. And then, the dynamic modeling uncertainty and thrust model errors are combined into the system model uncertainty(SMU) of AUV; through the RNN, the SMU and ocean current disturbance are classified, approximated online. Finally, the weights of RNN and other control parameters are adjusted online based on the backstepping terminal sliding mode controller. In addition, a chattering?reduction method is proposed based on sigmoid function. In chattering?reduction method, the sigmoid function is used to realize the continuity of the sliding mode switching function, and the sliding mode switching gain is adjusted online based on the exponential form of the sliding mode function. Based on the Lyapu?nov theory and Barbalat’s lemma, it is theoretically proved that the AUV trajectory tracking error can quickly converge to zero in the finite time. This research proposes a trajectory tracking control method of AUV, which can e ectively achieve high?precision trajectory tracking control of AUV under the influence of the uncertain factors. The feasibility and e ectiveness of the proposed method is demonstrated with trajectory tracking simulations and pool?experi?ments of AUV.

关键词： Autonomous underwater vehicle(AUV) Trajectory tracking Neural networks Backstepping method terminal sliding mode Adaptive control

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维普期刊数据库

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Adaptive terminal sliding mode Control for Rigid Robotic Manipulators

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International Journal of Automation and computing 2011年第2期8卷 215-220页

作者： Mezghani Ben Romdhane Neila Damak Tarak Industrial Processes Control Unit National Engineering School of SfaxUniversity of Sfax

In order to apply the terminal sliding mode control to robot manipulators,prior knowledge of the exact upper bound of parameter uncertainties,and external disturbances is ***,this bound will not be easily determined because of the complexity and unpredictability of the structure of uncertainties in the dynamics of the *** resolve this problem in robot control,we propose a new robust adaptive terminal sliding mode control for tracking problems in robotic *** applying this adaptive controller,prior knowledge is not required because the controller is able to estimate the upper bound of uncertainties and ***,the proposed controller can eliminate the chattering effect without losing the robustness *** stability of the control algorithm can be easily verified by using Lyapunov *** proposed controller is tested in simulation on a two-degree-of-freedom robot to prove its effectiveness.

关键词： terminal sliding mode sliding mode control adaptive control of robot robust control Lyapunov method.

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维普期刊数据库

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A Novel Fast terminal sliding mode Control Method Based on Immersion and Invariance for Course Control of USV

A Novel Fast Terminal Sliding Mode Control Method Based on I...

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第36届中国控制会议

作者： XUE Wentao ZHANG Chen LI Jianzhen WANG Yulong School of Electronics and Information Jiangsu University of Science and Technology

ISBN: (纸本)9781538629185

The course control of an unmanned surface vehicle（USV） with water-jet-propelled is addressed using a novel fast terminal sliding mode control approach based on system immersion and manifold invariant（FTSMC-I＆I）.The control scheme can ensure all error signals globally exponentially converge to origin in finite-time by the novel fast terminal sliding mode *** addition,I＆I method is applied to design an adaptive disturbance estimator in order to improve estimation accuracy and convergence speed with respect to parametric uncertainties and disturbances that are encountered in sailing ***,an additional compensation item is introduced into the adaptive law to keep the estimation error manifold invariant and *** a result,the estimation error of disturbances tends to zero and its dynamic process can be *** is shown that the proposed method can guarantee the asymptotical stability and the finite time convergence of the system from Lyapunov stability *** with the backstepping adaptive sliding mode control,the proposed control method can achieve higher precision and better robustness in the presence of practical input limits.

关键词： Unmanned surface vehicle terminal sliding mode Immersion and invariant theory Adaptive law

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Finite-time Robust Control for Inertially Stabilized Platform Based on terminal sliding mode

Finite-time Robust Control for Inertially Stabilized Platfor...

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第37届中国控制会议

作者： GE Suoliang ZHAO Lei PING Zhaowu YANG Shuang School of Electrical Engineering and Automation Hefei University of Technology School of Automation Northwestern Polytechnical University

In this paper,a finite-time robust controller is designed based on the terminal sliding mode for a two-axis gimbal ISP *** is shown that the controller designed in this paper can not only ensure the system output tracking error converge to zero in a finite time,but also provide a strong disturbance rejection *** addition,the gain of the finite-time robust controller can be significantly reduced with respect to the ones of linear sliding mode control schemes as well as PID control *** results will also be provided to demonstrate the effectiveness of the designed controller.

关键词： Inertially Stabilized Platform Finite-time Robust Control terminal sliding mode Finite-time Convergence Disturbance Rejection

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Practical Finite-Time Control of Missiles–A terminal sliding mode Approach

Practical Finite-Time Control of Missiles–A Terminal Slidin...

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第36届中国控制会议

作者： Mingzhe Hou Shitao Wang Guangren Duan Feng Tan Yang Liu Harbin Institute of Technology

This paper investigates the missile attitude control problem. The model used in this paper is with respect to the Euler attitude angles and their derivatives which can be measured and computed easily. A robust practical finite-time control algorithm is proposed based on the terminal sliding mode approach. It is proved that all of the signals in the closed-loop system are bounded and the tracking error can be driven into a given small neighborhood of the origin in the pre-specified time. The simulation results show the effectiveness of the proposed results.

关键词： missile control terminal sliding mode finite-time robust control

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Chebyshev Neural Network Observer Based RBF Neural Network terminal sliding mode Controller for a Class of Nonlinear System

Chebyshev Neural Network Observer Based RBF Neural Network T...

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第30届中国控制与决策会议

作者： Hadjer Sioud Amin Sharafin Karam Eliker Weidong Zhang Department of Automation Shanghai Jiao Tong University School of Mechatronic Engineering and Automation Shanghai University

This paper focuses on an observer-based controller for a class of nonlinear *** order to solve the problem of unknown dynamic in practical systems,two different Neural Networks（NNs） for observer and controller parts are *** the observer part,a Multi-Layer Perceptron（MLP） neural network based on error back propagation algorithm is applied to update the weights of neural network that will be used to estimate the system *** the controller part,Radial Basis Function Neural Network（RBFNN） with terminal sliding mode controller,based on a new sliding surface,is combined to achieve a finite time stability and fast convergence *** update law in the controller part is related to the proposed sliding *** stability of the closed loop system is analyzed by Lyapunov stability *** simulation,the proposed technique is applied to a chaotic system to obtain the effectiveness of the proposed approach.

关键词： MLP Neural Network RBF Neural Network terminal sliding mode sliding Surface State Estimation Observer

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Trajectory tracking control of UAV based on non-singular fixed-time terminal sliding mode

Trajectory tracking control of UAV based on non-singular fix...

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第40届中国控制会议

作者： Renjie Liu Qingbo Geng Qing Fei Qian Yin School of Automation Beijing Institute of Technology

A improved non-singular fixed-time terminal sliding mode controller（INFTSMC） is proposed in this paper to speed up the response during UAV trajectory tracking. Based on a kind of fixed-time convergence system with variable parameters and shorter convergence time, a new sliding mode surface and INFTSMC are designed to drive the system’s state converge in a fixed time, and the settling time’s upper bound is better than the existing results. Simultaneously, a switching saturation function is used in the controller to avoid singularity. The Lyapunov stability theory proves that the designed controller can realize the stable tracking of the UAV. The simulation results verify the performance of the INFTSMC given in this paper.

关键词： UAV terminal sliding mode non-singular fixed time

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Observer-Based Nonsingular terminal sliding mode Controller Design

Observer-Based Nonsingular Terminal Sliding Mode Controller ...

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第24届中国控制与决策会议

作者： Xie Xiaozhu Department of Information Engineering, Academy of Armored Force Engineering, Beijing 100072

This is the paper style requirement for the Chinese Control and Decision Conference. In this paper, a new observer-based nonsingular terminal sliding mode controller is proposed for a spin missile system with inertia uncertainty and external disturbance. By designing the nonlinear disturbance observer to observe the uncertainties and disturbance of the missile system, the chattering of nonsingular terminal sliding mode control is reduced. This controller can make the states not only reach the manifold in finite time, but also obtain a faster convergence and a better tracking precision. The global stability of the closed loop system is guaranteed and the singularity problem associated with conventional terminal sliding mode is avoided. The simulations verified the effectiveness of the proposed method in the paper.

关键词： Disturbance observer terminal sliding mode Uncertainty Nonsingular

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Type-2 Fuzzy Disturbance Observer Based terminal sliding mode Control for Spacecraft with Liquid Slosh and Flexible Structure

Type-2 Fuzzy Disturbance Observer Based Terminal Sliding Mod...

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第37届中国控制会议

作者： Liqian Dou Hui Du Wenjing Liu School of Electrical Engineering and Automation Beijing Institute of Control Engineering

This paper proposed a terminal sliding mode control strategy based on a type-2 fuzzy disturbance observer（FDO）for the spacecraft with liquid slosh and flexible structure（SLF）.The type-2 fuzzy logic system（FLS） has a better behavior than type-1 FLS on handling the ***,the type-2 FDO was adopted to estimate the whole uncertainties which contains the perturbations caused by the liquid fuel slosh and flexible structure,the unknown elements of the model and the external ***,the terminal sliding mode surface was designed to ensure the system stability and ***,the stability of the proposed control scheme was proved based on the Lyapunov stability ***,numerical simulations showed the effectiveness and advantages of the proposed method.

关键词： type-2 FDO coupled spacecraft liquid slosh flexible structure terminal sliding mode

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