A Nonsingular Fast Terminal Sliding Mode Control Scheme for Mecanum-Wheels Omnidirectional Mobile Robots

Li, Zhuguang; Li, Zhipeng; Sun, Zhe; Chen, Bo

doi:10.1109/ricai60863.2023.10489050

2023 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence (RICAI) 2023

DOI: 10.1109/ricai60863.2023.10489050

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A Nonsingular Fast Terminal Sliding Mode Control Scheme for Mecanum-Wheels Omnidirectional Mobile Robots

Zhuguang Li,

Zhipeng Li,

Zhe Sun

et al.

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2024

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Cited by 1 publication

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Control Design of Fractional Multivariable Grey Model-Based Fast Terminal Attractor for High Efficiency Pure Sine Wave Inverters in Electric Vehicles

Chang,

Tseng,

Cheng

2024

WEVJ

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In this paper, a fast and efficient control method is proposed for a pure sine wave inverter used in an electric vehicle system, which can provide better performance under transient and steady-state conditions. The proposed control technique consists of a fast terminal attractor (FTA) and a fractional multivariable grey model (FMGM). The FTA with finite time convergence offers a faster convergence rate of the system state and a singularity-free solution. However, if the uncertain system boundaries are overestimated or underestimated, chatter/steady-state errors can occur during the FTA, which can lead to significant harmonic distortion at the output of the pure sine wave inverter. A computationally efficient FMGM is incorporated into the FTA to solve the chatter/steady-state error problem when an uncertain estimate of the system boundary cannot be satisfied. Simulation results show that the proposed control technique exhibits low total harmonic distortion. Experimental results of a prototype pure sine wave inverter are presented to support the results of the simulation and mathematical analysis. Since the proposed pure sine wave inverter outperforms the classical TA (terminal attractor)-controlled pure sine wave inverter in terms of convergence speed, computational efficiency, and harmonic distortion elimination, this paper will serve as a useful reference for electric vehicle systems.

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Control Design of Fractional Multivariable Grey Model-Based Fast Terminal Attractor for High Efficiency Pure Sine Wave Inverters in Electric Vehicles

Chang,

Tseng,

Cheng

2024

WEVJ

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show abstract

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A Nonsingular Fast Terminal Sliding Mode Control Scheme for Mecanum-Wheels Omnidirectional Mobile Robots

Cited by 1 publication

References 21 publications

Control Design of Fractional Multivariable Grey Model-Based Fast Terminal Attractor for High Efficiency Pure Sine Wave Inverters in Electric Vehicles

Control Design of Fractional Multivariable Grey Model-Based Fast Terminal Attractor for High Efficiency Pure Sine Wave Inverters in Electric Vehicles

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