Chattering-free sliding mode synchronization control for a hybrid mechanism

Cao, Yuanyuan; Gao, Guanghui; Wu, Xintong

doi:10.1177/1687814017715982

Cited by 10 publications

(8 citation statements)

References 24 publications

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“…When

(||, s_{i})

is less than

μ_{i}

, the adaptive law (12) produces smaller

λ_{i}

to save energy and attenuate chattering. In engineering practise, a pragmatic way is to choose small

μ_{i}

via trial and error method to improve the convergence accuracy of sliding variables [18]. In addition, the adaptive gain

λ_{i}

will increase at a fixed acceleration of

λ_{i}

when

λ_{i}

is less than

λ_{m i}

.…”

Section: Control System Designmentioning

confidence: 99%

Adaptive robustSMC of hybrid robot for automobile electro‐coating conveying

Ding

Gao

2019

J. eng.

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“…When

(||, s_{i})

is less than

μ_{i}

, the adaptive law (12) produces smaller

λ_{i}

to save energy and attenuate chattering. In engineering practise, a pragmatic way is to choose small

μ_{i}

via trial and error method to improve the convergence accuracy of sliding variables [18]. In addition, the adaptive gain

λ_{i}

will increase at a fixed acceleration of

λ_{i}

when

λ_{i}

is less than

λ_{m i}

.…”

Section: Control System Designmentioning

confidence: 99%

Adaptive robustSMC of hybrid robot for automobile electro‐coating conveying

Ding

Gao

2019

J. eng.

Self Cite

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“…However, when it comes to the parallel robot for automobile electro-coating conveying, due to the strong coupling among the joints, the synchronization among the active joints should be considered as well. For the same purpose of improving the synchronization performance, SMC has been proposed for a hybrid mechanism in [16], [17]. However, the derivative of the Lyapunov function is proved to be negative semi-definite, so the sliding variable is only asymptotically stable.…”

Section: Introductionmentioning

confidence: 99%

“…However, the derivative of the Lyapunov function is proved to be negative semi-definite, so the sliding variable is only asymptotically stable. Besides, the sign function is replaced with a continuous function in [16], as the price of chattering alleviation, this approximation method has to sacrifice the robustness of the closed-loop system [18], [19].…”

Section: Introductionmentioning

confidence: 99%

Synchronous Robust Sliding Mode Control of a Parallel Robot for Automobile Electro-Coating Conveying

Gao

Zhang

2019

IEEE Access

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This paper is devoted to improving the synchronization and robustness performance of a parallel robot used for automobile electro-coating conveying via a novel synchronous robust sliding mode control (SMC). A sliding surface is designed based on a composite error, which is composed of the tracking error of each joint and the synchronization errors among the joints. By incorporating a nonlinear disturbance observer into the finite-time SMC based on the composite error, the synchronous robust SMC of the parallel robot is realized. The finite-time Lyapunov stability of the sliding variable and the asymptotic convergence of the tracking error and synchronization error have been proved theoretically. The lumped disturbance in the system is estimated by the proposed scheme, and restriction on the change rate of the lumped disturbance has been relaxed. Due to the feedforward compensation with the disturbance estimation value, the switching gain of SMC required is merely larger than the upper bound of the disturbance estimation error, rather than the upper bound of the disturbance, resulting in chattering attenuation. Finally, the numerical simulation and experiment on the prototype system of the parallel robot are implemented to validate the effectiveness of the synchronous robust SMC.

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“…Furthermore, in spite of the robustness SMC, this theory suffers from some limitations mainly the high-frequency chattering phenomenon making the system trajectories rapidly wander from the optimal trajectory. 11 Many methods have been proposed in order to handle this problem such as the use of the saturation control, 12 the use of the higher order sliding mode control, 13 and the combination between SMC and a low-pass filter (LPF), which should be inserted in front of the robot to yield a smoother control signal. 14,15 Another problem is the difficulty of the calculation of the equivalent control where the knowledge of the system dynamics is required.…”

Section: Introductionmentioning

confidence: 99%

Genetic algorithm-based multi-objective design of optimal discrete sliding mode approach for trajectory tracking of nonlinear systems

Benamor

Boukadida

Messaoud

2019

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, a novel multi-objective design of optimal control for robotic manipulators is considered. Generally, robots are known by their highly nonlinearities, unmodeled dynamics, and uncertainties. In order to design an optimal control law, based on the linear quadratic regulator, the robotic system is described as a linear time varying model. The compensation of both disturbances and uncertainties is ensured by the integral sliding mode control. The problem of deciding the optimal configuration of the linear quadratic regulator controller is considered as an optimization problem, which can be solved by the application of genetic algorithm. The main contribution of this paper is to consider a multi-objective optimization problem, which aims to minimize not only the chattering phenomenon but also other control performances including the rise time, the settling-time, the steady-state error and the overshoot. For that, a novel dynamically aggregated objective function is proposed. As a result, a set of nondominated optimal solutions are provided to the designer and then he selects the most preferable alternative. To demonstrate the efficacy and to show complete performance of the new controller, two nonlinear systems are treated in this paper: firstly, a selective compliance assembly robot arm robot is considered. The results show that the manipulator tracing performance is considerably improved with the proposed control scheme. Secondly, the proposed genetic algorithm-based linear quadratic regulator control strategy is applied for pitch and yaw axes control of two-degrees-of-freedom laboratory helicopter workstation, which is a highly nonlinear and unstable system. Experimental results substantiate that the weights optimized using genetic algorithm, result in not only reduced tracking error but also improved tracking response with reduced oscillations.

show abstract

Chattering-free sliding mode synchronization control for a hybrid mechanism

Cited by 10 publications

References 24 publications

Adaptive robustSMC of hybrid robot for automobile electro‐coating conveying

Adaptive robustSMC of hybrid robot for automobile electro‐coating conveying

Synchronous Robust Sliding Mode Control of a Parallel Robot for Automobile Electro-Coating Conveying

Genetic algorithm-based multi-objective design of optimal discrete sliding mode approach for trajectory tracking of nonlinear systems

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