Discrete-Time Sliding-Mode Control With Enhanced Power Reaching Law

Ma, Haifeng; Li, Yangmin; Xiong, Zhenhua

doi:10.1109/tie.2018.2864712

Cited by 60 publications

(60 citation statements)

References 36 publications

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“…where Mðq; tÞ 2 R nÂn denotes the mass matrix and q 2 R n is the generalized position; € q 2 R n is the generalized acceleration; Qðq; _ q ; tÞ 2 R n is the generalized force and Q¼ À C _ q À G, C is the Coriolis matrix, GðqÞ 2 R nÂ1 is the gravitational force, and _ q 2 R n is the generalized velocity; u¼Q c þ Q u is the input control torque, and the constraint torque vector is given by 25 Q u is the compensation torque, Aðq; _ q ; tÞ 2 R pÂn is the constraint matrix, and bðq; _ q ; tÞ 2 R p is a p-vector; and r is the external disturbance.…”

Section: Proposed Control Law For Smcmentioning

confidence: 99%

“…23 The exponential reaching law 24 converges fast, but the chattering is serious when reaching the sliding mode stage. The power reaching law 25 can weaken chattering but converges slowly especially when the system state is far from the sliding mode manifold. The double-power reaching law 23,26 eliminates the inherent chattering of the traditional sliding mode and has a convergence speed advantage especially when the initial error is large.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A novel constraint tracking control with sliding mode control for industrial robots

Liu

et al. 2021

International Journal of Advanced Robotic Systems

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As industrial robots are characterized by flexibility, load variation, and unknown interference, it is necessary to develop a control strategy with strong robustness and adaptability, fast convergence rate, and simple structure. Sliding mode control is a special method widely used to handle nonlinear robot control. However, the existing control law for sliding mode control has limitations in the chattering and convergence rate. The sliding mode manifold and reaching law are firstly discussed in this article. In the meanwhile, a proposed control law for sliding mode control combining linear sliding mode manifold and double-power reaching law is developed, which is based on the robot dynamic equation derived by the Udwadia–Kalaba theory. Furthermore, a compared control law for sliding mode control combining linear sliding mode manifold with exponential reaching law is presented to test the proposed control law for sliding mode control. The comparison indicates that the proposed law effectively improves the performance in convergence rate and the chattering of constraint tracking control. Finally, the two control laws for sliding mode control are applied to the Selective Compliance Articulated Robot Arm robot system with modeling error and uncertain external disturbance to demonstrate the merit and validation of the proposed scheme.

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Section: Proposed Control Law For Smcmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A novel constraint tracking control with sliding mode control for industrial robots

Liu

et al. 2021

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…To overcome this problem, the adaptive reaching law based SMC was proposed in [1] and [19], in which the gains of the reaching law were online tuned to adapt the variations of the controlled system, and the control performance is significantly improved in terms of robust and precision. The adaptive reaching law can also be found in the works [20][21] and the references therein. For chattering attenuation, soft computing based approaches, such as fuzzy logic, neural networks and probabilistic reasoning, are also widely used, the details can be found in the survey paper [22].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Sliding Mode Based Position Tracking Control for PMSM Drive System With Desired Nonlinear Friction Compensation

et al. 2020

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The output feedback position tracking control of permanent-magnet synchronous motor (PMSM) drive system is addressed in this paper. In order to obtain a differentiable disturbance theoretically, a continuous differentiable model is employed to model the nonlinear friction, and the desired velocity, rather than the measured or estimated velocity, is used in the friction compensation. Then, based on the desired friction compensation model, the reaching law based sliding mode controller is designed to make the position tracking error as small as possible in the presence of model uncertainties and load disturbance, and the gain of the reaching law is online tuned to adapt the variations of the controlled system. Moreover, a nonlinear extended state observer (NESO) is designed to simultaneously estimate the unmeasured states and unknown disturbance to guarantee the finite time stability of the proposed controller, and the designed NESO is proven to be exponentially stable and has zero estimation errors theoretically. Simulations and experimental results are given to verify the effectiveness of the proposed control scheme.

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“…For instance, Ref. [25] proposed a novel DSMC scheme for precision tracking control of a piezoelectric actuator. In addition, for making the system state converge to the equilibrium point asymptotically within finite steps, Refs.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Discrete-Time Terminal Sliding Mode Control of a DEAP Actuator with Rate-Dependent Hysteresis Nonlinearity

Wang

et al. 2019

Applied Sciences

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Dielectric electro-active polymer (DEAP) materials, also called artificial muscle, are a kind of EAP smart materials with extraordinary strains up to 30% at a high driving voltage. However, the asymmetric rate-dependent hysteresis is a barrier for trajectory tracking control of DEAP actuators. To overcome the barrier, in this paper, a Hammerstein model is established for the asymmetric rate-dependent hysteresis of a DEAP actuator first, in which a modified Prandtl-Ishlinskii (MPI) model is used to represent the static hysteresis nonlinear part, and an autoregressive with exogenous inputs (ARX) model is used to represent the linear dynamic part. Applying Levenberg-Marquardt (LM) algorithm identifies the parameters of the Hammerstein model. Then, based on the MPI model, an inverse hysteresis compensator is obtained to compensate the hysteresis behavior. Finally, a compound controller consisting of the hysteresis compensator and a novel discrete-time terminal sliding mode controller (DTSMC) without state observer is proposed to achieve the high-precision trajectory tracking control. Stability analysis of the closed-loop system is verified by using Lyapunov stability theorem. Experimental results based on a DEAP actuator show that the proposed controller has better tracking control performance compared with a conventional discrete-time sliding mode controller (DSMC).

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Discrete-Time Sliding-Mode Control With Enhanced Power Reaching Law

Cited by 60 publications

References 36 publications

A novel constraint tracking control with sliding mode control for industrial robots

A novel constraint tracking control with sliding mode control for industrial robots

Adaptive Sliding Mode Based Position Tracking Control for PMSM Drive System With Desired Nonlinear Friction Compensation

Modeling and Discrete-Time Terminal Sliding Mode Control of a DEAP Actuator with Rate-Dependent Hysteresis Nonlinearity

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