Continuous fuzzy nonsingular terminal sliding mode control of flexible joints robot manipulators based on nonlinear finite time observer in the presence of matched and mismatched uncertainties

Zaare, Saeed; Soltanpour, Mohammad Reza

doi:10.1016/j.jfranklin.2020.04.001

Cited by 35 publications

(28 citation statements)

References 48 publications

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“…Remark 2: TDE scheme is applied for an estimation which means this technique estimates on the basis of delayed parameters/dynamics. For the implementation of the TDE scheme, a sufficiently small delay is used and can be obtained when the sampling period is selected 30 times faster than the controlled system bandwidth [16,36,37].…”

Section: Remarkmentioning

confidence: 99%

TDE Based Model-free Control for Rigid Robotic Manipulators under Nonlinear Friction

2022

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This paper establishes a model-free finite-time tracking control of nonlinear robotic manipulator systems. The proposed controller incorporates both time delay estimation (TDE) and an enhanced terminal sliding mode control (TSMC). The improved TSMC scheme is devised using fractional-order TSMC (FOTSMC) and proportionalintegral-derivative (PID) control to obtain robust tracking and high control performance. The TDE is designed to estimate the unknown nonlinear dynamics of robotic manipulators, including the Stribeck friction and the external disturbances. Due to Stribeck friction, the effect of TDE error may fail to obtain the desired error performance; thus, another TDE loop is devised to compensate for TDE error generated by non-smooth frictions. The Lyapunov criterion is used to investigate the finite-time stability to analyze the behavior of the designed approach. Finally, computer simulations of the proposed method on PUMA 560 robotic manipulators are performed in contrast with FOTSMC and adaptive fractional-order nonsingular terminal sliding mode control (AFONTSM).

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Section: Remarkmentioning

confidence: 99%

TDE Based Model-free Control for Rigid Robotic Manipulators under Nonlinear Friction

2022

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“…Notice that an FJR is an underactuated system of 4n dimension represented by the states x in (16). Thus, the control goal in ( 13) is achieved under a non-conventional design controller [17].…”

Section: Open-loop Systemmentioning

confidence: 99%

“…In [15], authors proposed a method to design a family of virtual contraction‐based controllers to solve the trajectory tracking problem of flexible‐joint robots in the port‐Hamiltonian framework. A continuous fuzzy non‐singular terminal sliding mode control based on a non‐linear finite‐time observer to control a serial‐chain

n

‐link flexible joint electrically‐driven robot manipulator was proposed in [16].…”

Section: Introductionmentioning

confidence: 99%

Combined adaptive neural network and regressor‐based trajectory tracking control of flexible joint robots

Montoya–Cháirez¹,

Moreno–Valenzuela²,

Santibáñez

et al. 2021

IET Control Theory & Appl

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By relying on the input-output feedback linearization approach, a novel adaptive controller for flexible joint robots is proposed in this work. First, a model-based controller is developed to get a structure that is useful in the development of the adaptive controller. The adaptive version is developed by using two techniques. To stabilize the output function, an adaptive neural network controller is used, which approximates the non-linear function that contains the uncertainties. The desired rotor position required by the input-output feedback linearization controller is defined with the structure of a link dynamics adaptive regressor-based controller. The main reason to adopt the mentioned structure in the definition of the desired rotor link position is to guarantee its differentiability. Real-time experiment comparisons among the model-based controller, a model-based controller with desired compensation, an adaptive controller based on joint torque feedback, and an adaptive neural network-based controller are carried out. Experimental results support the theory reported in this document and the accuracy of the proposed approach.

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“…Therefore, the computation volume is too high in these schemes. This issue makes it too difficult to practically implement these controllers in the nonlinear system (Soltanpour et al, 2016;Zaare and Soltanpour, 2020). 3.…”

Section: Introductionmentioning

confidence: 99%

Optimal robust adaptive fuzzy backstepping control of electro-hydraulic servo position system

Zaare

Soltanpour

2021

Transactions of the Institute of Measurement and Control

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In this paper, an optimal robust adaptive fuzzy backstepping control is presented to the position control of the electro-hydraulic servo (EHS) system in the presence of structured and unstructured uncertainties. Initially, the robust control using the backstepping technique is presented to overcome the existing uncertainties in the dynamic equations. Mathematical proof demonstrates that the closed-loop system in the presence of uncertainties has a global asymptotic stability. Then, to overcome the chattering problem, a very simple fuzzy approximator is presented where it approximates the bounds of the uncertainties. Although the proposed robust fuzzy backstepping control has a desirable performance, it has no mathematical analysis to prove the stability of the closed-loop system. Therefore, to solve this problem, the proposed fuzzy approximator has been transformed into a one-law adaptive fuzzy approximator with a single-input single-output fuzzy rule. Mathematical analysis illustrates that the closed-loop system in the presence of uncertainties has a global asymptotic stability under the proposed robust adaptive fuzzy backstepping control. Furthermore, a novel modified harmony search algorithm (MHSA) has been developed, by using the original harmony search algorithm (OHSA) as an optimization technique, to achieve the optimal values of the membership functions and the control coefficients. Finally, a comparative study has been conducted between the proposed control scheme under the MHSA and the OHSA, and other existing advanced control approaches to verify the effectiveness of the proposed control. Results show that the proposed control scheme under the MHSA can suppress the chattering problem and reduce the disturbances effectively while ensuring that the performance is tracked.

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Continuous fuzzy nonsingular terminal sliding mode control of flexible joints robot manipulators based on nonlinear finite time observer in the presence of matched and mismatched uncertainties

Cited by 35 publications

References 48 publications

TDE Based Model-free Control for Rigid Robotic Manipulators under Nonlinear Friction

TDE Based Model-free Control for Rigid Robotic Manipulators under Nonlinear Friction

Combined adaptive neural network and regressor‐based trajectory tracking control of flexible joint robots

Optimal robust adaptive fuzzy backstepping control of electro-hydraulic servo position system

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