Data-driven MIMO discrete-time predictive model-free adaptive integral terminal sliding mode controller design for robotic manipulators driven by pneumatic artificial muscles

Model-free adaptive iterative learning integral terminal sliding mode control of exoskeleton robots

“…In the model-free case, a fast form of TSMCs based on integer-order and fractional-order surfaces have been, respectively, developed in Wang et al (2020b) and Wang et al (2018) to control the cable-driven manipulators, where the time-delay estimation approach has been used to estimate the lumped dynamics. Furthermore, by taking nonlinear sliding surfaces into account, DL-based finite-time DSMCs have been proposed for rigid manipulators driven by PAMs, and the electrically actuated ones in Esmaeili et al (2019a) and Esmaeili et al (2019b), respectively, to gain higher precision and finite-time convergence. A constrained fast-terminal sliding surface–based MFAC has also been developed in Esmaeili et al (2020).…”

An $${\mathscr {H}}_{\infty }$$ Approach to Data-Driven Offset-Free Tracking

“…This method has been used in model-based predictive controllers (MPC) (Cheng et al 2015;Li et al 2016), subspace based predictive controllers (Kadali et al 2003;Wahab et al 2011;Lu et al 2011;Wu et al 2014;Lu et al 2015;Shafiei et al 2015;Luo and Song 2018;Vajpayee et al 2018) and feedback linearization control (Errouissi et al 2016) in which incremental control input is determined instead of control input to reduce steady-state tracking error. Also, in sliding mode controllers, an integral term has been utilized in sliding surface to enhance the tracking performance (Esmaeili et al 2019a;Van 2019). Up to now, offset-free tracking performance in data-driven H ∞ controller has not yet been studied, which motivates us to propose a data-driven offset-free H ∞ controller to meet control objectives, i.e., accurate reference tracking and disturbance attenuation.…”