Global sliding mode control for the underactuated translational oscillator with rotational actuator system

Wu, Xianqing; Xu, Kexin

doi:10.1177/0959651820946135

Cited by 4 publications

(2 citation statements)

References 47 publications

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“…With wide applications of underactuated mechanical systems in various industrial fields, the control of these systems has received considerable attention from the control community in recent years. [1][2][3][4][5][6][7][8][9][10][11] As a typical mechanical underactuated system, the overhead crane system has been extensively used in iron and steel, chemical industry, railway transportation, port and other industrial places for its merits such as high efficiency, large carrying capacity, low energy consumption, and so on. For overhead crane systems, moving the payload smoothly and safely to the destination is the fundamental objective.…”

Section: Introductionmentioning

confidence: 99%

Lyapunov approach for the control of overhead crane systems with double-pendulum dynamics and uncertain disturbances

Zhao,

Wu,

Zhang

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part I:

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In this paper, a new composite control strategy, consisting of a disturbance observer and a nonlinear anti-swing control approach, is presented for underactuated overhead crane systems. Compared with existing control strategies for overhead crane systems, both the double-pendulum dynamics and unknown disturbances of which are taken into consideration. In addition, the unknown disturbances are handled by a feedforward compensation control method. Specifically, first, based on the system dynamic equations, an auxiliary signal is constructed and a nonlinear disturbance observer is presented, which can exactly estimate the unknown disturbances in finite time. Next, an elaborate Lyapunov function is introduced and a disturbance-observer-based control approach is presented for the overhead crane system with double-pendulum dynamics. Then, rigorous theoretical analysis is given to prove the convergence of the system states. At last, simulation tests are included to verify the effectiveness and robustness of the devised approach.

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Section: Introductionmentioning

confidence: 99%

Lyapunov approach for the control of overhead crane systems with double-pendulum dynamics and uncertain disturbances

Zhao,

Wu,

Zhang

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part I:

Self Cite

View full text Add to dashboard Cite

show abstract

“…SMC has strong robustness against the system perturbations and uncertainties and thus provides an excellent dynamic response. [32][33][34] The system trajectory is guided toward the sliding surface and then all the points on the trajectory are forced to stay within the neighborhood of the sliding surface and thus achieving the stability. 35 The designed control law maintains the control variable to stay on the sliding surface in the existence of uncertainties and unknown perturbations.…”

Section: Introductionmentioning

confidence: 99%

Adaptive sliding mode predictive power control of three-phase AC/DC converters

Zad

Ulasyar

Zohaib

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article presents a new adaptive sliding mode–based model predictive controller for AC/DC three-phase converters achieving better dynamic performance and stability. In the classical model predictive controller available in the literature, the model-based approach, for example, proportional–integral controller is employed for producing the active power reference for the three-phase converters. The traditional proportional–integral–based model predictive controllers consist of steady-state error and slow transient response characteristics. As a result, the DC-link voltage contains uncertainties due to variations in the load demand and output voltage. To overcome these limitations, this article suggests an adaptive sliding mode controller for generating the active power reference value from the DC-link voltage which then combines with the model predictive controller in order to minimize the cost function. The proposed controller minimizes the effects of uncertainties and variations in the output voltage by adaptively regulating the gain of sliding mode controller and modifying the control law online. The cost function is then minimized using the model predictive controller in order to control the active and reactive power flow. The stability analysis of the designed controller is performed using Lyapunov theorem. The effectiveness of the designed control scheme is proved by comparing its performance with the proportional–integral model predictive controller and fixed gain sliding mode–based model predictive controller control schemes. Simulation and experimental system results are obtained for validating the presented control approach.

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A Model-Free Output Feedback Control Approach for the Stabilization of Underactuated TORA System with Input Saturation

et al. 2022

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The horizontal translational oscillator with a rotational actuator (TORA) is a typical underactuated mechanical system, whose control problem is still open and theoretically challenging. At present, the existing control methods are structurally complicated and require an exact knowledge of the system parameters. Moreover, few works have considered the output feedback stabilization of the TORA system subject to practical constraints of input saturation and angular velocity unmeasurement. To address these problems, this paper proposes a novel model-free amplitude-limited control approach to stabilize the TORA system at the origin using only angle feedback. Firstly, the passivity of the horizontal TORA system is analyzed, based on which a novel Lyapunov function augmented with an auxiliary signal is constructed by taking the input saturation into account. Then, an amplitude-limited control law is derived in a straightforward manner. In order to make the control law independent of velocity feedback, the auxiliary signal is designed in terms of the ball rotational angle and an output of a dynamic system. The asymptotic stability of the entire control system is rigorously guaranteed by utilizing Lyapunov theory and LaSalle’s invariance principle. Finally, simulation results with comparisons to existing methods demonstrate the effectiveness and superiority of the proposed control approach.

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Global sliding mode control for the underactuated translational oscillator with rotational actuator system

Cited by 4 publications

References 47 publications

Lyapunov approach for the control of overhead crane systems with double-pendulum dynamics and uncertain disturbances

Lyapunov approach for the control of overhead crane systems with double-pendulum dynamics and uncertain disturbances

Adaptive sliding mode predictive power control of three-phase AC/DC converters

A Model-Free Output Feedback Control Approach for the Stabilization of Underactuated TORA System with Input Saturation

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