Adaptive Super-Twisting Sliding Mode Control of Underwater Mechanical Leg with Extended State Observer

Liao, Lihui; Gao, Luping; Ngwa, Mboulé; Zhang, Dijia; Du, Jingmin; Li, Baoren

doi:10.3390/act12100373

Cited by 4 publications

(2 citation statements)

References 35 publications

(58 reference statements)

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“…This advantage was extended to MIMO systems in [29]. The above improvements show that the extended state observer (ESO) excels in managing external disturbances [30,31] but grapples with a crucial challenge-phase lag during state estimation. This lag impairs the accuracy of ESO-compensated states, hindering effective feedback.…”

Section: Introductionmentioning

confidence: 99%

Multi-Channel Phase-Compensated Active Disturbance Rejection Control with an Improved Backstepping Strategy for Electro-Optical Tracking Systems

Zhuang,

Li,

Wang

et al. 2024

Actuators

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A multi-channel phase-compensated active disturbance rejection control (MPADRC) incorporating an improved backstepping strategy is proposed in this paper to handle the phase lag in the extended state observer (ESO) and the residual uncertainty in the system. Firstly, a multi-channel phase-compensated ESO (MPESO) is constructed by adding phase-advanced networks to all output channels of the ESO, which allows disturbances and system states to be compensated and feedback in a more timely manner, respectively. Then, to estimate and offset the residual uncertainty in the system, an improved backstepping control method is employed and a Lyapunov function is designed to verify the convergence of the error between the estimated and actual values of the residual uncertainty. After that, the improved backstepping control is combined with MPADRC, and comparisons with the conventional linear active disturbance rejection control (LADRC) are conducted for a range of cases. Finally, on an inertial stabilization platform in the electro-optical tracking system (ETS), simulation and experimental results verified the effectiveness of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Multi-Channel Phase-Compensated Active Disturbance Rejection Control with an Improved Backstepping Strategy for Electro-Optical Tracking Systems

Zhuang,

Li,

Wang

et al. 2024

Actuators

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show abstract

“…Many marine creatures are used as bionic objects, including tuna, jellyfish, turtles, dolphins, rays, and so on. However, most traditional underwater robots are driven by motors [9][10][11][12], which makes their rigid drive components bulky and lack safety. At the same time, the rigid body can easily harm creatures in the ocean.…”

Section: Introductionmentioning

confidence: 99%

Soft Electrohydraulic Bending Actuators for Untethered Underwater Robots

Lin,

Chen,

Tang

2024

Actuators

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Traditional underwater rigid robots have some shortcomings that limit their applications in the ocean. In contrast, because of their inherent flexibility, soft robots, which have gained popularity recently, offer greater adaptability, efficiency, and safety than rigid robots. Among them, the soft actuator is the core component to power the soft robot. Here, we propose a class of soft electrohydraulic bending actuators suitable for underwater robots, which realize the bending motion of the actuator by squeezing the working liquid with an electric field. The actuator consists of a silicone rubber film, polydimethylsiloxane (PDMS) films, soft electrodes, silicone oils, an acrylic frame, and a soft flipper. When a square wave voltage is applied, the actuator can generate continuous flapping motions. By mimicking Haliclystus auricula, we designed an underwater robot based on six soft electrohydraulic bending actuators and constructed a mechanical model of the robot. Additionally, a high-voltage square wave circuit board was created to achieve the robot’s untethered motions and remote control using a smart phone via WiFi. The test results show that 1 Hz was the robot’s ideal driving frequency, and the maximum horizontal swimming speed of the robot was 7.3 mm/s.

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Integral Sliding Mode‐Composite Nonlinear Feedback Control Strategy for Microgrid Inverter Systems

Zhang,

Xiu,

2024

IEEJ Transactions Elec Engng

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To enhance the dynamic performance and robustness of the voltage control system of islanded microgrid inverters, a new control strategy combining integral sliding mode (ISM) control and composite nonlinear feedback (CNF) control is proposed. In ISM control, firstly, a new reaching law is designed to improve movement quality in the reaching phase by improving the power term and introducing the inverse tangent function. Then, to improve disturbance observation accuracy, a variable gain extended state observer is designed by improving the regulation mechanism of the state variables according to deviation control. Using the idea of variable damping, linear and nonlinear feedback are combined into CNF control. Specifically, linear feedback provides a small damping ratio for faster system response, while nonlinear feedback increases the damping ratio to improve steady‐state performance. Simulation results show that the integral sliding mode‐composite nonlinear feedback (ISM‐CNF) control strategy cam balances convergence speed and chattering better and achieves higher steady‐state accuracy than conventional strategies. Moreover, ISM‐CNF control has better robustness to reference voltage variations and disturbances caused by sudden load changes. Therefore, the ISM‐CNF control strategy can accomplish voltage control of islanded microgrid inverters quickly and steadily, effectively suppressing system disturbances and enhancing stability and power quality. © 2024 Institute of Electrical Engineers of Japan and Wiley Periodicals LLC.

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Adaptive Super-Twisting Sliding Mode Control of Underwater Mechanical Leg with Extended State Observer

Cited by 4 publications

References 35 publications

Multi-Channel Phase-Compensated Active Disturbance Rejection Control with an Improved Backstepping Strategy for Electro-Optical Tracking Systems

Multi-Channel Phase-Compensated Active Disturbance Rejection Control with an Improved Backstepping Strategy for Electro-Optical Tracking Systems

Soft Electrohydraulic Bending Actuators for Untethered Underwater Robots

Integral Sliding Mode‐Composite Nonlinear Feedback Control Strategy for Microgrid Inverter Systems

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