A Novel Adaptive Super-Twisting Sliding Mode Control Scheme with Time-Delay Estimation for a Single Ducted-Fan Unmanned Aerial Vehicle

Tran, Minh Thien; Lee, Dong Hun; Chakir, Soumayya; Kim, Young-Bok

doi:10.3390/act10030054

Cited by 15 publications

(11 citation statements)

References 39 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Furthermore, [22] showed the ability of SMC to work with many different approaches such as AI. The work in [23,24] showed the ability of STA to be used in many different scenarios such as in UAVs and its use in dynamic voltage restorers. This paper is organised in the following way: In Section 2, each part of the model is described.…”

Section: Literature Reviewmentioning

confidence: 99%

Super-Twisting Sliding Mode Control for Differential Steering Systems in Vehicular Yaw Tracking Motion

2022

View full text Add to dashboard Cite

This paper deals with the modelling and control of differential steering for vehicular motions with the help of Sliding Mode Control (SMC) with a Super-Twisting Algorithm (STA). A single-track mechanical model of the vehicular dynamics is proposed and validated by simulations. A control strategy based on the STA is proposed for the yaw dynamics to improve travel comfort and the stability of the vehicular motion. The desired yaw trajectory is given and the equivalent and corrective control parts of the STA are calculated by the controller. Simulation results show the effectiveness of the proposed control strategy.

show abstract

Section: Literature Reviewmentioning

confidence: 99%

Super-Twisting Sliding Mode Control for Differential Steering Systems in Vehicular Yaw Tracking Motion

2022

View full text Add to dashboard Cite

show abstract

“…In most of the existing literature [15], time delayed estimation error is mitigated by robustifying outer loop using first order switching while [20] and [21] have used super twisting algorithms to tackle the estimation error in motion control problems. Reasoning for using switching term to deal with perturbed cases has been an established result in the sliding mode control literature [22].…”

Section: A Background and Motivationmentioning

confidence: 99%

“…• Proposed design uses a state dependent upper-bound structure of the uncertainty unlike in [20] and [21] where constant upper-bounds were used.…”

Section: B Contributionsmentioning

confidence: 99%

Robust Artificial Delay based Impedance Control of Robotic Manipulators with Uncertain Dynamics

Banerjee¹,

Dey²,

Kar³

et al. 2022

Preprint

View full text Add to dashboard Cite

In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (TDE) framework with a second order switching controller of super twisting algorithm (STA) type via a novel generalized filtered tracking error (GFTE). While time delayed estimation framework eliminates the need for accurate modelling of robot dynamics by estimating the uncertain robot dynamics and interaction forces from immediate past data of state and control effort, the second order switching control law in the outer loop provides robustness against the time delayed estimation (TDE) error that arises due to approximation of the manipulator dynamics. Thus, the proposed control law tries to establish a desired impedance model between the robot end effector variables i.e. force and motion in presence of uncertainties, both when it is encountering smooth contact forces and during free motion. Simulation results for a two link manipulator using the proposed controller along with convergence analysis are shown to validate the proposition.

show abstract

“…Hsia T C S et al., first proposed the time delay estimation (TDE) method, which can estimate and compensate the nonlinear part and various uncertainties of robot dynamics according to the previous state response and control output, thus it has an attractive model‐free nature 14 . Therefore, TDE has better robustness against external disturbances, modelling errors, parameter changes, and has been widely used 15‐18 . Among the control methods of the prosthesis, impedance control can make the prosthesis show the characteristics of adapting to terrain changes when it is in contact with the ground, thus it can ensure the safety of the wearers 19‐21 .…”

Section: Introductionmentioning

confidence: 99%

“…14 Therefore, TDE has better robustness against external disturbances, modelling errors, parameter changes, and has been widely used. [15][16][17][18] Among the control methods of the prosthesis, impedance control can make the prosthesis show the characteristics of adapting to terrain changes when it is in contact with the ground, thus it can ensure the safety of the wearers. [19][20][21] YUAN K et al, designed an ankle prosthesis and proposed an impedance control method.…”

mentioning

confidence: 99%

Model‐free robust adaptive integral sliding mode impedance control of knee–ankle–toe active transfemoral prosthesis

Chen

Geng

et al. 2022

Robotics Computer Surgery

View full text Add to dashboard Cite

Background:Wearing appropriate active prosthesis is the guarantee of daily life for amputees. Normally the controller of the traditional active transfemoral prosthesis is designed based on the mathematical model. The modelling error and the external interference will reduce the control accuracy of the system and make the prosthesis unable to operate in the desired trajectory.Methods: Firstly, combined with time delay estimation (TDE), a model-free robust integral sliding mode impedance controller is designed. This method not only suppress the impedance error, but also eliminate the nonlinear relationship and disturbance in the dynamic model. Secondly, an adaptive law is proposed to update the controller gain, which provide stable control effect. Thirdly, the stability of prosthesis closed-loop system is proved by Lyapunov stability theory. Finally, the motor torque is used to drive each joint, and Matlab/Simscape is used to verify the prosthesis control system. Results:From the result of the simulation experiment, the control method has a good tracking effect on each joint. The root mean square error and mean absolute errors of each joint's angle tracking error are 0.6123°, 1.9976°, 0.5574°and 0.2635°, 1.8175°, 0.4796°. Compared with the controller without adaptive gain and impedance control, the control effect is improved, and the plantar pressure of amputees is closer to the sound side. Conclusions:Comparing the results of different controllers, the adaptive integral sliding mode impedance controller with TDE can better track the expected angles of each joint. The gait is more normal. The walking performance of the prosthesis wearers is improved. K E Y W O R D Sactive lower limb prosthesis, adaptive integral sliding mode impedance control, motor execution, time delay estimation (TDE) | INTRODUCTIONWith the continuous development of economy, science and technology, people's living standards keep improving, and the disabled also need higher performance active prostheses to ensure the quality of daily life. Although domestic prosthetic industry has gradually formed, most of the products are passive prostheses, which will lead to asymmetrical gait and consume more energy. 1 Studies have shown that wearing active prostheses can make the gait of disabled people more comfortable. 2,3 It also increases their ability to walk steadily on various terrains. 4,5 Most common transfemoral prostheses only have knee and ankle joints, while toe joint is usually ignored, and the feet

show abstract

A Novel Adaptive Super-Twisting Sliding Mode Control Scheme with Time-Delay Estimation for a Single Ducted-Fan Unmanned Aerial Vehicle

Cited by 15 publications

References 39 publications

Super-Twisting Sliding Mode Control for Differential Steering Systems in Vehicular Yaw Tracking Motion

Super-Twisting Sliding Mode Control for Differential Steering Systems in Vehicular Yaw Tracking Motion

Robust Artificial Delay based Impedance Control of Robotic Manipulators with Uncertain Dynamics

Model‐free robust adaptive integral sliding mode impedance control of knee–ankle–toe active transfemoral prosthesis

Contact Info

Product

Resources

About