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Finite-time tracking control and vibration suppression based on the concept of virtual control force for flexible two-link space robot

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Defence Technology（防务技术） 2021年第3期17卷 874-883页

作者： Rong-Hua Lei Li Chen School of Mechanical Engineering and Automation Fuzhou UniversityFuzhou350116China

The dynamic modeling, finite-time trajectory tracking control and vibration suppression of a flexible two-link space robot are studied. Firstly, the dynamic model of the system is established by combining Lagrange method with assumed mode method. In order to ensure that the base attitude and the joints of space robot can reach the desired positions within a limited time, a non-singular fast terminal sliding mode(NFTSM) controller is designed, which realizes the finite-time convergence of the trajectory tracking errors. Subsequently, for the sake of suppressing the vibrations of flexible links, a hybrid trajectory based on the concept of the virtual control force is developed, which can reflect the flexible modes and the trajectory tracking errors simultaneously. By modifying the original control scheme, a NFTSM hybrid controller is proposed. The hybrid control scheme can not only realized attitude stabilization and trajectory tracking of joints in finite time, but also provide a new method of vibration suppression. The simulation results verify the effectiveness of the designed hybrid control strategy.

关键词： Finite-time terminal sliding mode Flexible links Vibration suppression Virtual control force

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Discrete-time based sliding-mode control of robot manipulators

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International Journal of Intelligent Computing and Cybernetics 2012年第3期5卷 340-358页

作者： Sajjad Shoja Majidabad Heydar Toosian Shandiz Department of Electrical Engineering and Robotic Shahrood University of TechnologyShahroodIran

Purpose-The purpose of this paper is to develop sliding mode control with linear and nonlinear manifolds in discrete-time domain for robot ***/methodology/approach–First,a discrete linear sliding mode controller is designed to an n-link robot based on Gao’s reaching *** the second step,a discrete terminal sliding mode controller is developed to design a finite time and high precision *** stability analysis of both controllers is presented in the presence of model uncertainties and external ***,sampling time effects on the continuous-time system outputs and sliding surfaces are ***–Computer simulations on a three-link SCARA robot show that the proposed controllers are robust against model uncertainties and external *** was also shown that the sampling time has important effects on the closed loop system stability and *** implications-The proposed controllers are low cost and easily implemented in practice in comparison with continuous-time ***/value-The novelty associated with this paper is the development of an approach to finite time and robust control of n-link robot manipulators in discrete-time ***,obtaining an upper bound for the sampling time is another contribution of this work.

关键词： Sampling time Discrete-time sliding mode terminal sliding mode Linear and nonlinear manifolds N-link robot manipulator Robots Control technology Control systems

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Adaptive Finite-time Consensus of Nonlinear Multi-agent Systems with Unknown Dynamics and Disturbances

Adaptive Finite-time Consensus of Nonlinear Multi-agent Syst...

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第36届中国控制会议

作者： Xiaolei Li Jiange Wang Xiaoyuan Luo Institute of Electrical Engineering Yanshan University

ISBN: (纸本)9781538629185

This paper investigates the finite-time consensus problem of nonlinear multi-agent systems(MAS) in the presence of friction and external disturbances on directed graph.A nonsingular fast terminal sliding mode manifold is proposed to provide fast consensus convergence and high precision based on switching ***,consider the friction and external disturbances,a distributed finite-time consensus controller is designed by using the adaptive fuzzy ***,an example is provided to demonstrate the effectiveness of the proposed consensus approach.

关键词： Multi-agent systems finite-time consensus fuzzy approximation terminal sliding mode

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Nonsmooth finite-time control of uncertain second-order nonlinear systems

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控制理论与应用（英文版） 2007年第2期5卷 171-176页

作者： Shuanghe YU Zi MA Xiaohui YANG Automation Research Center Dalian Maritime UniversityDalian Liaoning 116026 China

Nonsmooth finite-time stabilizing control laws have been developed for the double integrator system. The objective of this paper is to further explore the finite-time tracking control problem of a general form of uncertain secondorder affine nonlinear system with the new forms of terminal sliding mode （TSM）. Discontinuous and continuous finite-time controllers are also developed respectively without the singularity problem. Complete robustness can be acquired with the former, and enhanced robustness compared with the conventional boundary layer method can be expressed as explicit bounded function with the latter. Simulation results on the stabilizing and tracking problems are presented to demonstrate the effectiveness of the control algorithms.

关键词： Nonsmooth Finite-time stability terminal sliding mode

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A New Simultaneous Attack Cooperative Guidance Law with Strengthened Condition

A New Simultaneous Attack Cooperative Guidance Law with Stre...

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第36届中国控制会议

作者： Xiaoqian Wei Jianying Yang State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of EngineeringPeking University

ISBN: (纸本)9781538629185

A new cooperative guidance law based on terminal sliding mode with strengthened condition is designed to solve multi-attacker-one-target simultaneous attack *** strengthened condition can guarantee state convergency and eliminate *** time-to-go can be kept during state moving on the sliding *** impact time can be given before intercepting *** simulations with the comparisons demonstrate the effectiveness and the superiority of the proposed cooperative guidance law.

关键词： Simultaneous Attack terminal sliding mode Cooperative Guidance Law

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Finite-time disturbance rejection control for robotic manipulators based on sliding mode differentiator 25th

Finite-time disturbance rejection control for robotic manipu...

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第25届中国控制与决策会议

作者： Jinya Su Jun Yang Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of CSE Ministry of Education

ISBN: (纸本)9781467355322

The continuous finite-time high-precision anti-disturbance control problem for robotic manipulators （RM） under external disturbances and parameter uncertainties is investigated in this article. Firstly, a continuous terminal sliding mode control （CTSMC） is introduced to stabilize the nominal dynamics of the RM in finite time. Secondly, a sliding mode differentiator is employed to estimate the lumped disturbances to its nominal dynamics in finite time. By feedforward compensating the estimation of the lumped disturbances, a continuous composite controller is thus obtained for the RM system. The composite controller enjoys the following superior properties: 1) it is continuous and thus no chattering phenomenon appears;2) the finite-time convergence property of the RM system under the proposed controller is guaranteed even in the presence of disturbances and uncertainties;3) the nominal control performance of the proposed method is recovered to the baseline CTSMC method in the absence of disturbances and uncertainties. The excellent properties of the proposed algorithm is demonstrated by simulation studies.

关键词： Continuous finite-time anti-disturbance control terminal sliding mode Robotic manipulators

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Active Front Steering Controller Design for Electric Vehicle System by Using Disturbance Observer Method

Active Front Steering Controller Design for Electric Vehicle...

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第36届中国控制会议

作者： Yang Jin Lu Liu Shihong Ding Wei Xing Zheng School of Electrical and Information Engineering Jiangsu University School of Computing and Mathematics Western Sydney University

ISBN: (纸本)9781538629185

The purpose of the paper is to propose a new control scheme in active front steering（AFS） for vehicle stability using disturbance observer *** the paper,the ideal yaw rate can be calculated on the linear two-degrees-of-freedom vehicle *** addition,the actual sideslip angle can also be estimated by using a state *** on this,two kinds of baseline AFS controllers are proposed by using PID and terminal sliding mode（TSM） techniques such that the actual yaw rate will approach the reference *** further improve the performance of the closed-loop system,by using the disturbance observer（DOB） technique,the corresponding composite control schemes are also been given in the presence of uncertainties and external *** results show the effectiveness of the proposed AFS control schemes via simulation of Carsim software under single lane change *** has been verified that by using disturbance observer method the two composite controllers are shown to be more effective than the baseline controllers.

关键词： AFS PI terminal sliding mode disturbance observer

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Active Disturbance Rejection sliding mode Control for USV Path Tracking

Active Disturbance Rejection Sliding Mode Control for USV Pa...

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第三十九届中国控制会议

作者： Mingyu Fu Song Wu Yujie Xu College of Automation Harbin Engineering University

In order to improve the tracking accuracy and adaptability of the USV on the sea, this paper proposes an improved path tracking activedisturbance rejection control algorithm based on terminal sliding mode. Considering the robustness of active disturbance rejection control（ADRC） and the ability to deal with external and internal uncertainties, and the advantages of sliding mode control（SMC）, such as fast response, without requiring system identification etc, by the combination of ADRC and SMC control strategy, are terminal sliding mode active disturbance rejection control（TSM-ADRC） is developmented to design the heading and longitudinal velocity controllers respectively, and the stability analysis is proved by the Lyapunov stability theory. Finally, the effectiveness of the proposed control strategy is verified by simulation.

关键词： USV path tracking ELOS guidance terminal sliding mode

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Control of Underactuated Manipulators with Uncertain Static Friction

Control of Underactuated Manipulators with Uncertain Static ...

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2010 Chinese Control and Decision Conference

作者： Mingjun Li~1,Baoli Ma~2 1.The Seventh Research Division,Beihang University,Beijing 100191,China 2.The Seventh Research Division,Beihang University,Beijing 100191,China

＜正＞In this paper the control of 2R underactuated planar manipulator with uncertain static friction is considered. The control process is divided into two *** the first phase,terminal sliding mode control is used to stabilize the passive joint to the desired position in finite time;during this phase the motion of the active joint is regarded as mechanical *** the second phase,the dynamic equation of the active joint becomes a linear equation with a limited control input and a parameter containing the uncertain static friction of the passive joint.A two-dimension fuzzy controller,the domain of which is dynamically adjusted,is applied to stabilize the active joint to the desired position, while the passive joint remains at its desired position all the *** simulation results indicate that the control scheme proposed in this paper is valid.

关键词： underactuated manipulators uncertain static friction terminal sliding mode fuzzy control

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Fault Tolerant Control with TSM for Spacecraft Formation Flying

Fault Tolerant Control with TSM for Spacecraft Formation Fly...

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2015年中国智能自动化学术会议

作者： Xiaoyu Han Yingmin Jia The Seventh Research Division and the Department of Systems and Control Beijing University of Aeronautics and Astronautics

In this paper,a fault tolerant-based adaptive terminal sliding mode(TSM) control method is proposed for leader–follower spacecraft formation flying system in the presence of actuator *** external disturbances and minimum fault information are adapted online and the great robustness is *** has been proved that with this designed controller,the practical finite-time stability(PFS) of the closed-loop system can be *** results show the effectiveness of the proposed method.

关键词： Fault tolerant control Spacecraft formation terminal sliding mode Adaptive control

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