Disturbance/Uncertainty Estimator Based Integral Sliding-Mode Control

Kürkçü, Burak; Kasnakoğlu, Coşku; Efe, Mehmet Önder

doi:10.1109/tac.2018.2808440

Cited by 48 publications

(26 citation statements)

References 21 publications

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“…Recently, many research results indicate that the UDE technique has significant potential to weaken the influences of chattering and uncertain perturbation. 30 The key idea in the UDE-based control is to utilize the system information in the recent past to obtain an estimate of the uncertainty. Inspired by this idea, a novel SMCUDE controller is designed.…”

Section: Smcude Controller Developmentmentioning

confidence: 99%

Modeling and control methodology for an XYZ micro manipulator

Tian

et al. 2019

Review of Scientific Instruments

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This paper presents the modeling and control methodology for a piezoactuated compliant XYZ manipulator toward precision positioning. The manipulator was fabricated using a wire electrical discharge machining technique, and the system identification was conducted to obtain the dynamic model based on the frequency response. To reduce the effects of hysteresis, creep, and external disturbances, a feedforward/feedback hybrid controller is proposed, which contains a dynamic dependent Prandtl-Ishlinskii (DDPI) hysteresis model and a novel sliding mode controller. The DDPI hysteresis model has excellent modeling accuracy at high operating frequencies with consideration of the dynamic characteristics of the micromanipulator. The novel sliding mode controller integrated with uncertainty and disturbance estimation (SMCUDE) technique is developed, which has the advantages of fast response, strong robustness, and resistance to chattering. The performance of the DDPI hysteresis model and the novel sliding mode controller is validated and compared using experimental tests. The experimental results indicate that the DDPI model provides better positioning accuracy than the traditional Prandtl-Ishlinskii (P-I) model and the rate-dependent P-I model, and furthermore, the SMCUDE controller can improve the response speed without loss of stability, which demonstrates that precision positioning operations can be implemented by the developed manipulator using the proposed control strategy.

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Section: Smcude Controller Developmentmentioning

confidence: 99%

Modeling and control methodology for an XYZ micro manipulator

Tian

et al. 2019

Review of Scientific Instruments

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“…In order to enhance performance of the system, hybrid control methods, which combine the advantages while trying to eliminate the disadvantages of the individual components, have been developed. For example, due to the advantages of the ISMC and DO, a hybrid ISMC and DO has been developed in [43]- [45]. Hybrid approximation and estimation methods based on NN/FLS and DO have also been developed in [46]- [52].…”

Section: Introductionmentioning

confidence: 99%

“…,(45) and(43), we havė σ(t) = −( + ν)sign(σ) + (46) Consider a Lyapunov function candidate V = (1/2)σ T σ. Adding the result in (46) to the derivative of the Lyapunov function, we achievė V = σ Tσ = σ T (−( + ν)sign(σ) + ) = −( + ν)|σ| + σ < 0 (47) Therefore, the stability of the system is established based on Lyapunov criteria.…”

mentioning

confidence: 99%

Adaptive Fuzzy Integral Sliding-Mode Control for Robust Fault-Tolerant Control of Robot Manipulators With Disturbance Observer

Van

2021

IEEE Trans. Fuzzy Syst.

139

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This paper develops a new strategy for robust fault tolerant control (FTC) of robot manipulators using an adaptive fuzzy integral sliding mode control and a disturbance observer (DO). First, an integral sliding mode control (ISMC) is developed for the FTC system. The major features of the approach are discussed. Then, to enhance performance of the system, a fuzzy logic system (FLS) approximation and a DO are introduced to approximate the unknown nonlinear terms, which include the model uncertainty and fault components, and estimates the compounded disturbance, respectively, and then integrated into the ISMC. Next, a switching term based on an adaptive twolayer super-twisting algorithm is designed to compensate the disturbance estimated error and guarantee stability and convergence of the whole system. The nominal controller of the ISMC is reconstructed using backstepping control technique to achieve the stability for the nominal system based on Lyapunov criteria. The computer simulation results demonstrate the effectiveness of the proposed approach.

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“…State estimation is also required for control algorithms where states of the plant is required to generate the input signals to drive the error to zero. Although, there are advanced robust output feedback control algorithms [6][7][8][9] available in the literature where there is no demand for a state information, in the case of state being available gives the designer flexibility in producing a linear or nonlinear control laws. State estimators can also be employed to estimate the critical parameters of the plant where the parameters are considered to be additional states and the state vector is augmented [10].…”

Section: Introductionmentioning

confidence: 99%

Design of extended Kalman filter for SEPIC converter and comparison to Kalman filter

Sel

Kasnakoğlu

2020

SN Appl. Sci.

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Single ended primary inductance converter (SEPIC) is a type of DC-DC converter whose industrial applications include maximum power point tracking and Active power factor correction. Owing to present nonlinear circuit components, SEPIC has discontinuous nonlinearity and for the mathematical model determination, state space averaging or more advanced modeling techniques are required. Once the approximated nonlinear model is obtained, the states of the plant can be estimated using a nonlinear state estimator. Nonlinear estimators are preferred mostly when the real trajectory of the states cannot be estimated accurately by a linear state estimator and the deviation from the linear behavior and nonlinear one is above what is tolerable for the applications. Extended Kalman filter (EKF), being such a state estimator is widely employed in control and fault monitoring applications where a complete or an approximated nonlinear model of the plant is available. EKF especially operates well for the plants where the nonlinearity does not cause the assumptions behind EKF to be violated. In this study, first an approximated nonlinear model for SEPIC is determined. Using the model, EKF is designed to estimate the states of the plant. The efficacy of the designed EKF is demonstrated in a series of numerical MATLAB based simulations where the both open loop and closed loop performances are analyzed, and the results are detailed in the paper.

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Disturbance/Uncertainty Estimator Based Integral Sliding-Mode Control

Cited by 48 publications

References 21 publications

Modeling and control methodology for an XYZ micro manipulator

Modeling and control methodology for an XYZ micro manipulator

Adaptive Fuzzy Integral Sliding-Mode Control for Robust Fault-Tolerant Control of Robot Manipulators With Disturbance Observer

Design of extended Kalman filter for SEPIC converter and comparison to Kalman filter

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