A nonsingular terminal sliding algorithm for swing and stance control of a prosthetic leg robot

Jafari, Maryam; Mobayen, Saleh; Bayat, Farhad; Roth, Hubert

doi:10.1016/j.apm.2022.08.029

Cited by 11 publications

(7 citation statements)

References 24 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…However, the design of this algorithm is also quite complicated. Sliding control algorithms can be applied to many system models, such as leg robots [56] or quadrotor UAVs [57]. Te performance that this algorithm brings is outstanding.…”

Section: Control Algorithmsmentioning

confidence: 99%

The Dynamic Model and Control Algorithm for the Active Suspension System

Nguyen

2023

Mathematical Problems in Engineering

View full text Add to dashboard Cite

Road surface roughness is the leading cause of vehicle oscillation. The suspension system is used to dampen these oscillations. The active suspension system equipped with a hydraulic actuator is more efficient than the passive one. Therefore, it is used to replace the passive suspension system. The article reviews and analyses models and control algorithms for active suspension systems. In this article, the author mentioned three dynamic models commonly used to simulate vehicle oscillations: a quarter-dynamic model, a half-dynamic model, and a fully dynamic model. Each hydraulic actuator can be considered a state variable in the dynamic model. Besides, the control algorithm for the suspension system is significant. Algorithms like PID (proportional–integral–derivative) and LQR (linear quadratic regulator) will fit the linear model. In contrast, the nonlinear model’s algorithms, such as SMC (sliding mode control), fuzzy, and ANN (artificial neural network), will perform better. Overall, vehicle oscillation can be significantly improved once an active suspension system is used. The contents analysed in this article will be the database for selecting control models and algorithms by other researchers in the future.

show abstract

Section: Control Algorithmsmentioning

confidence: 99%

The Dynamic Model and Control Algorithm for the Active Suspension System

Nguyen

2023

Mathematical Problems in Engineering

View full text Add to dashboard Cite

show abstract

“…Thus, s, u 0 , and u 1 are all bounded. According to (37) and (43), when e = 0 and s 6 ¼ 0, there will be a case of _ e0, that is, _ e0 does not always remain zero until AST-SMS (38) arrives. Next, in order to prove that the system (27) converges in finite time, we continue to choose Lyapunov function…”

Section: Ast-smcmentioning

confidence: 99%

“…However, the design of this method requires the switching gain to be larger than the upper bound of unknown dynamics and disturbances, which has chattering phenomenon 31,32 and is always highly estimated. To avoid this phenomenon, the terminal sliding mode control, [33][34][35][36][37] global sliding mode control, 38 high-order sliding mode control, [39][40][41][42] time delay sliding mode control(TD-SMC) [43][44][45] and etc. are proposed.…”

Section: Introductionmentioning

confidence: 99%

Super-twisting sliding mode finite time control of power-line inspection robot with external disturbances and input delays

Cao

2023

Measurement and Control

View full text Add to dashboard Cite

An adaptive super-twisting sliding mode control (AST-SMC) is proposed for the power-line inspection (PLI) robot system with two degrees of freedom and single control input underactuated with multiple balances. Firstly, the nonlinear dynamic equation of PLI robot is established, and the model is linearized at the nominal equilibrium point. Secondly, a special transformation is introduced to transform the original input delay system into a delay-free model, and an equilibrium manifold linearization (EML) model is established by using scheduling variables to expand the operating range of the controlled system, as a result of which the disturbance observer control (DOC) is designed to estimate the external disturbance. Thirdly, in order to achieve fast convergence and continuous control, the super-twisting sliding mode control(ST-SMC) method is proposed to decrease chattering in the control law. Finally, it can be verified by Lyapunov stability theory that the system reaches the sliding mode surface in finite time and the trajectory tracking error converges to zero in finite time. The simulation results verify that the combination of DOC and AST-SMC has a optimal disturbance approximation and control convergence ability, clarifying the effectiveness and robustness of the proposed control scheme.

show abstract

“…The widespread use of robots in various applications has led to the fact that many common industrial robots today are not able to meet all requirements [1][2][3][4]. This has led to the design and construction of new structures of robots to meet the vast amount of human needs.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fuzzy Control of a Cable-Driven Parallel Robot

Hsia

El-Sousy

et al. 2022

Mathematics

Self Cite

View full text Add to dashboard Cite

Cable robots are a type of parallel robot in which cables have replaced the usual rigid arms. In cable robots, due to the tensile strength of the cable, the workspace analysis is much more complex than in conventional robots. In this paper, we design an adaptive fuzzy controller for a cable-driven parallel robot (CDPR). In the proposed controller, the results show that the accuracy of the system performance in tracking the reference value as well as the controller performance speed is better than that of the robust method. In one of the simulation modes, the performance speed of the control system for convergence is reduced and its error is very small, which indicates the proper performance of the proposed adaptive fuzzy method. It should be noted that all simulations are performed in a MATLAB software environment.

show abstract

A nonsingular terminal sliding algorithm for swing and stance control of a prosthetic leg robot

Cited by 11 publications

References 24 publications

The Dynamic Model and Control Algorithm for the Active Suspension System

The Dynamic Model and Control Algorithm for the Active Suspension System

Super-twisting sliding mode finite time control of power-line inspection robot with external disturbances and input delays

Adaptive Fuzzy Control of a Cable-Driven Parallel Robot

Contact Info

Product

Resources

About