Decoupled adaptive terminal sliding mode control strategy for a 6-DOF electro-hydraulic suspension test rig with RBF coupling force compensator

Fu, Yuhua; Zhou, Xiaojun; Wan, Bowen; Yang, Xuefeng

doi:10.1177/09544062231152339

Cited by 4 publications

(3 citation statements)

References 46 publications

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“…Li and Gao [22] proposed an RBFNN-optimized adaptive parameter control strategy for robotic arm control. Fu and Zhou [23] designed an adaptive SMC strategy based on RBFNN optimization for a six-degree-of-freedom electro-hydraulic servo platform, achieving multi-variable coupling control of electro-hydraulics.…”

Section: Introductionmentioning

confidence: 99%

Design and Control Performance Optimization of Variable Structure Hydrostatic Drive Systems for Wheel Loaders

Wang,

Wang

et al. 2024

Machines

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The traditional loader drive system is based on the hydraulic torque converter as the key component, and its gear is shifted through the coordination of the clutch and gearbox, which greatly increases power loss and operator fatigue. To address the above problem, a variable-structure hydrostatic drive system is proposed. This system adopts a closed-loop design and adjusts the displacement of the pump and dual motors to follow the throttle opening of the vehicle, achieving automatic gear shifting and smooth speed regulation. It can also automatically change the system structure according to the vehicle’s speed, meeting the vehicle’s demand for rapid switching output of high torque and high speed. At the same time, in the displacement matching control process, an adaptive sliding mode control scheme based on radial basis function neural network compensation is proposed. This scheme designs an adaptive hyperparameter update strategy according to the characteristics of the system to effectively compensate for changes in uncertain factors. Experimental results show that, compared to traditional drive systems, this system has the characteristics of simple operation, smooth speed regulation, and high fuel economy.

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Section: Introductionmentioning

confidence: 99%

Design and Control Performance Optimization of Variable Structure Hydrostatic Drive Systems for Wheel Loaders

Wang,

Wang

et al. 2024

Machines

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“…Nevertheless, the conventional SMC is poor in treating the rapid variations of disturbances and is prone to causing chattering [15,16]. To retain the merits and reduce the weakness of SMC, a terminal SMC (TSMC) has been developed [17,18]. However, the conventional TSMC has a deficiency in providing lag convergence speed and singularity issues [19].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Approximation Sliding-Mode Control of an Uncertain Continuum Robot with Input Nonlinearities and Disturbances

2024

Applied Bionics and Biomechanics

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This paper develops an adaptive nonsingular fast terminal sliding-mode control (ANFTSMC) scheme for the continuum robot subjected to uncertain dynamics, external disturbances, and input nonlinearities (e.g., actuator deadzones/faults). Concretely, a function approximation technique (FAT) is utilized to estimate unknown robot dynamics and actuator deadzones/faults online. Furthermore, a disturbance observer (DO) is devised to make up for unknown external disturbances. Then, an ANFTSMC scheme combined with FAT and DO is developed, to expedite the restoration of the stability for the continuum robot. The proposed ANFTSMC not only can retain the benefits of traditional terminal sliding-mode control (TSMC), containing easy enforcement, quick response, and robustness to uncertainties but also dispose of the latent singularity for traditional faster TSMC designs. Afterward, the simulation results show that the proposed controller can effectively improve the trajectory tracking accuracy of the continuum robot, and the tracking root-mean-square errors are 0.0115 and 0.0128 rad. Finally, the effectiveness of ANFTSMC scheme is validated by experiments.

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“…To address the above issues, the method based on inverse dynamics and a compensation strategy is used for the control of complex mechanical structures [12,13]. The ISM has been widely used for system decoupling and has achieved obvious results in model linearization [14]. In view of the influence of system coupling on control performance, an inverse dynamic model using ISM is constructed to eliminate nonlinear coupling.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Finite-Time Backstepping Integral Sliding Mode Control of Three-Degree-of-Freedom Stabilized System for Ship Propulsion-Assisted Sail Based on the Inverse System Method

Liu,

Song,

Zhang

et al. 2024

JMSE

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The three-degree-of-freedom (3-DOF) stabilized control system for ship propulsion-assisted sails is used to control the 3-DOF motion of sails to obtain offshore wind energy. The attitude of the sail is adjusted to ensure optimal thrust along the target course. An adaptive finite-time backstepping integral sliding mode control based on the inverse system method (ABISMC-ISM) is presented for attitude tracking of the sail. Considering the nonlinear dynamics and strong coupling of the system, a decoupling strategy is established using the inverse system method (ISM). Constructing inverse dynamics to eliminate internal coupling, the system is transformed into independent pseudolinear subsystems. For the decoupled open-loop subsystems, an adaptive finite-time backstepping integral sliding mode control is designed to achieve closed-loop control. A backstepping-based integral sliding surface is proposed to eliminate the phase-reaching stage of the sliding surface. Considering the unmodelled dynamics and external disturbances, an adaptive extreme learning machine (AELM) was designed to estimate the disturbances. Furthermore, a sliding mode reaching law based on finite-time theory was employed to ensure that the system returns to the sliding surface in a finite time under chattering conditions. Experiments on a principle prototype demonstrate the effectiveness and energy-saving performance of the proposed method.

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Decoupled adaptive terminal sliding mode control strategy for a 6-DOF electro-hydraulic suspension test rig with RBF coupling force compensator

Cited by 4 publications

References 46 publications

Design and Control Performance Optimization of Variable Structure Hydrostatic Drive Systems for Wheel Loaders

Design and Control Performance Optimization of Variable Structure Hydrostatic Drive Systems for Wheel Loaders

Adaptive Approximation Sliding-Mode Control of an Uncertain Continuum Robot with Input Nonlinearities and Disturbances

Adaptive Finite-Time Backstepping Integral Sliding Mode Control of Three-Degree-of-Freedom Stabilized System for Ship Propulsion-Assisted Sail Based on the Inverse System Method

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