Fuzzy-Based Adaptive Super-Twisting Sliding-Mode Control for a Maneuverable Tethered Space Net Robot

Due to the praiseworthy maneuverability and actuation flexibility, the in-wheel-motor-driven mobile robots (IWMD-MR) are widely employed in various industrial fields. However, the active estimation and rejection of unknown disturbances/uncertainties remain a tough work for formulating a stable lateral motion controller. To address the challenge, this paper proposes a robust lateral stabilization control (RLSC) scheme for the developed IWMD-MR by designing an active disturbance suppression mechanism. The distinctive features of the proposed RLSC method are threefold: (i) With a fuzzy estimator, a modified super-twisting sliding mode method is designed to eliminate the system perturbations and time-varying lumped disturbances in an active manner; (ii) The resultant system trajectory is forced into a bounded switching region within finite time, which can be maintained therein for subsequent periods; (iii) Employing the Lyapunov function, new adaption rules for multivariable gains are derived to preserve the lateral motion stability and robustness. Finally, under the direct yaw moment control framework, simulation experiments of real-life IWMD-MR are offered to verify the effectiveness of the presented RLSC method.

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“…With the universal Approximation Theorem [ 37 ] and the fuzzy-based estimator, we can determine the uncertainties in

with

…”

Section: Resultsmentioning

confidence: 99%

Robust Lateral Stabilization Control of In-Wheel-Motor-Driven Mobile Robots via Active Disturbance Suppression Approach

Meng

Wang

Jiang

et al. 2020

Sensors

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“…With the development of space technology, space missions are becoming increasingly complex. A series of new flexible cable spacecraft have thus emerged, such as cable net antenna, 1 tethered satellite, 2 tethered space robot 3,4 as well as space acquisition system, 5 which have wide application prospects in space missions owing to their light weight, low damping, and high tensile strength.…”

Section: Introductionmentioning

confidence: 99%

Active control strategy for low frequency vibration of space flexible cables based on improved sliding mode controller

Dong,

Wang,

et al. 2023

Journal of Low Frequency Noise, Vibration and Active Control

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Effective vibration control of flexible cables is increasingly demanded for space flexible structure. For the low frequency dynamics of flexible cables, a novel vibration control strategy based on sliding mode control is proposed in this paper. First, the complex dynamical behavior of flexible cables is modeled using D’Alembert’s principle. Second, an improved dual power reaching law is put forward to better address the chattering problem of the sliding mode controller. Then, an extended state observer (ESO) with the radial basis function (RBF) neural network is designed to compensate for internal uncertainties and external disturbances as well as further improve the control accuracy. Lyapunov function is employed to analyze the stability of the system. Finally, considering the large number of parameters of the proposed controller, an improved particle swarm optimization (PSO) algorithm is designed to automatically adjust these parameters. The effectiveness of the proposed method is demonstrated by simulation results.

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“…In addition, the super-twisting algorithm has been immensely popular since its inception [29]- [32]. Recently, there has been a lot of interest in adaptive versions of the super-twisting algorithm [33], [34]. The adaptive law can change the control gain.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Super-Twisting Distributed Formation Control of Multi-Quadrotor Under External Disturbance

Zhang

Chen

Shang³

et al. 2021

IEEE Access

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In this paper, the adaptive super-twisting distributed formation control of multi-quadrotor in the presence of external disturbances and uncertainties is studied. First, the quadrotor formation system is separated into a position subsystem and an attitude subsystem which are represented by unit-quaternions. And then a composite adaptive super-twisting control method is proposed for the position subsystem and attitude subsystem respectively. For the position subsystem, an adaptive multivariable super-twisting controller is designed such that the positions of formation converge to the desired formation configuration and generate the desired attitude. And the adaptive fast super-twisting controller is designed for the attitude subsystem to track the desired attitude in finite time. Based on Lyapunov-based stability analysis, finite time convergence stability of the whole closed-loop system is proved. Finally, a numerical simulation result is provided to illustrate the effectiveness of the proposed formation control scheme.

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Fuzzy-Based Adaptive Super-Twisting Sliding-Mode Control for a Maneuverable Tethered Space Net Robot

Cited by 28 publications

References 28 publications

Robust Lateral Stabilization Control of In-Wheel-Motor-Driven Mobile Robots via Active Disturbance Suppression Approach

Robust Lateral Stabilization Control of In-Wheel-Motor-Driven Mobile Robots via Active Disturbance Suppression Approach

Active control strategy for low frequency vibration of space flexible cables based on improved sliding mode controller

Adaptive Super-Twisting Distributed Formation Control of Multi-Quadrotor Under External Disturbance

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