A Neural Network Based Sliding Mode Control for Tracking Performance with Parameters Variation of a 3-DOF Manipulator

Truong, Hoai Vu Anh; Tran, Duc Thien; Ahn, Kyoung Kwan

doi:10.3390/app9102023

Cited by 22 publications

(11 citation statements)

References 23 publications

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“…The total system model is constructed by the mechanical system model (3), the hydraulic system model described by (6) and ( 9) which already consist of the servo-valve model (5).…”

Section: System Modelingmentioning

confidence: 99%

“…Electro-hydraulic servo systems (EHSSs) have been widely employed for years in a wide range of industrial applications such as load simulators [1], robot manipulators [2][3][4][5][6], vehicle active suspension [7,8], and hydraulic press [9] due to their advantages of high produced force/torque, high stiffness, high power-to-weight ratio, high load efficiency, and fast and smooth response [10]. However, high-accuracy position tracking control of electro-hydraulic systems is still challenging owing to highly nonlinear characteristics [11], parametric uncertainties (i.e., significant changes in effective bulk modulus and viscosity with temperature, etc.…”

Section: Introductionmentioning

confidence: 99%

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Active Disturbance Rejection Control for Position Tracking of Electro-Hydraulic Servo Systems under Modeling Uncertainty and External Load

2021

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In this paper, an active disturbance rejection control is designed to improve the position tracking performance of an electro-hydraulic actuation system in the presence of parametric uncertainties, non-parametric uncertainties, and external disturbances as well. The disturbance observers (Dos) are proposed to estimate not only the matched lumped uncertainties but also mismatched disturbance. Without the velocity measurement, the unmeasurable angular velocity is robustly calculated based on the high-order Levant’s exact differentiator. These disturbances and angular velocity are integrated into the control design system based on the backstepping framework which guarantees high-accuracy tracking performance. The system stability analysis is analyzed by using the Lyapunov theory. Simulations based on an electro-hydraulic rotary actuator are conducted to verify the effectiveness of the proposed control method.

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“…The total system model is constructed by the mechanical system model (3), the hydraulic system model described by (6) and ( 9) which already consist of the servo-valve model (5).…”

Section: System Modelingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Active Disturbance Rejection Control for Position Tracking of Electro-Hydraulic Servo Systems under Modeling Uncertainty and External Load

2021

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“…As the rapid development in the field of automation, system analysis and control strategy design have become topics of interest in control research area in recent years. Several methodologies were proposed to exhibit the tracking performance for multi-input-multi-output nonlinear systems [1]- [4] such as advanced control algorithms [5]- [7], fractional-order control [8]- [10], intelligent techniques [11]- [15], or even optimization [16], [17] for robotic manipulators.…”

Section: Introductionmentioning

confidence: 99%

“…Consider the faulty system(11), and the proposed robust observer based on the ESO in (13), and Assumption 5, all signals of the system are uniformly ultimately bounded (UUB) and converges to the small neighborhood of the origin.…”

mentioning

confidence: 99%

A Robust Observer for Sensor Faults Estimation on n-DOF Manipulator in Constrained Framework Environment

et al. 2021

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This paper presents a fault-tolerant control (FTC) based on impedance control and full state feedback backstepping sliding mode control (FBSMC) algorithm for an n degree of freedoms (n-DOF) serial hydraulic manipulator under the presence of matched and mismatched uncertainties and sensor faults in the constrained framework. These faulty signals, generated from unknown constant or time-variant offset values, happen on both manipulator joint angles and force sensors; thereby degrading the system performance. Therefore, to address both matched and mismatched uncertainties and signal faults, the system dynamics subjects to the sensor faults is mathematically modeled. Then, the robust fault estimation algorithm based on extended state observer (ESO) is proposed to estimate the system state and faulty signals for the FTC design to achieve the force and position tracking performance. System stability of the proposed control scheme is theoretically proven by performing Lyapunov theorems. Finally, comparative simulation results are given on a 3-DOF serial hydraulic manipulator to evaluate the effectiveness of the proposed fault estimation and FTC methodology.INDEX TERMS Sensor fault estimation, extended state observer (ESO), fault-tolerant control (FTC), force control, impedance control.

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“…Nevertheless, to correct the error caused by uncertainties and non-modeled deviations, the use of closed control loops is required. Integral proportional control (PI) [23], sliding mode control (SMC) [24], and modified SMC strategies [10,[25][26][27][28] are simple closed-loop methods to correct uncertainties and errors in PEA systems, but they may become unstable or introduce an important delay between the input and the system response.…”

Section: Introductionmentioning

confidence: 99%

Sliding Mode Control with Dynamical Correction for Time-Delay Piezoelectric Actuator Systems

et al. 2019

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In piezoelectric actuators (PEAs), which suffer from inherent nonlinearities, sliding mode control (SMC) has proven to be a successful control strategy. Nonetheless, in micropositioning systems with time delay, integral proportional control (PI), and SMC, feedback control schemes have a tendency to overcompensate and, consequently, high controller gains must be rejected. This may produce a slow and inaccurate response. This paper presents a novel control strategy that deals with time-delay micropositioning systems aimed at achieving precise positioning by combining an open-loop control with a modified SMC scheme. The proposed SMC with dynamical correction (SMC-WDC) uses the dynamical system model to adapt the SMC inputs and avoid undesirable control response caused by delays. In order to develop the SMC-WDC scheme, an exhaustive analysis on the micropositioning system was first performed. Then, a mixed control strategy, combining inverse open-loop control and SMC-WDC, was developed. The performance of the presented control scheme was analyzed and compared experimentally with other control strategies (i.e., PI and SMC with saturation and hyperbolic functions) using different reference signals. It was found that the SMC-WDC strategy presents the best performance, that is, the fastest response and highest accuracy, especially against sudden changes of reference setpoints (frequencies >10 Hz). Additionally, if the setpoint reference frequencies are higher than 10 Hz, high integral gains are counterproductive (since the control response increases the delay), although if frequencies are below 1 Hz the integral control delay does not affect the system’s accuracy. The SMC-WDC proved to be an effective strategy for micropositioning systems, dealing with time delay and other uncertainties to achieve the setpoint command fast and precisely without chattering.

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A Neural Network Based Sliding Mode Control for Tracking Performance with Parameters Variation of a 3-DOF Manipulator

Cited by 22 publications

References 23 publications

Active Disturbance Rejection Control for Position Tracking of Electro-Hydraulic Servo Systems under Modeling Uncertainty and External Load

Active Disturbance Rejection Control for Position Tracking of Electro-Hydraulic Servo Systems under Modeling Uncertainty and External Load

A Robust Observer for Sensor Faults Estimation on n-DOF Manipulator in Constrained Framework Environment

Sliding Mode Control with Dynamical Correction for Time-Delay Piezoelectric Actuator Systems

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