Implementation of an Adaptive Neural Terminal Sliding Mode for Tracking Control of Magnetic Levitation Systems

Truong, Thanh Nguyen; Vo, Anh Tuan

doi:10.1109/access.2020.3036010

Cited by 26 publications

(13 citation statements)

References 51 publications

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“…SMC is robust and has good performance against perturbation. There are many practical applications of SMC includes; motor driver, robot position control, and underwater vehicles [24][25][26][27][28][29][30][31][32][33][34][35][36][37][38][39][40][41][42][43]. In SMC the main idea is to design the sliding surface and move the system states to the designed sliding surface [44][45][46].…”

Section: Introductionmentioning

confidence: 99%

Robust Control Design for Accurate Trajectory Tracking of Multi-Degree-of-Freedom Robot Manipulator in Virtual Simulator

et al. 2022

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Robot manipulators have complex dynamics and meanwhile are affected by significant uncertainties and external disturbances (perturbation). Accordingly, it is a tedious task to determine the exact mathematical model of a robot manipulator. Therefore, accurate trajectory tracking is one of the dominant features in the design of position control for robot manipulators. In this research, the main objective is to design a robust and accurate position control for a robot manipulator even in case of without exact model. For this purpose, extended state observer (ESO) based sliding mode control (SMC) is proposed to achieve the desired goal. In ESO, the main concept is to define and estimate the assumed perturbation which includes known and un-known system dynamics, uncertainties, and external disturbances. Additionally, ESO also estimates the system states. This estimated perturbation information has been used as feedback term to compensate the effect of actual perturbation, which is combined with SMC input. The perturbation compensation has improved controller performance resulting in small position error, less sensitive to perturbation, and small switching gain required for SMC. The advantage of the proposed algorithm is that it requires only partial state information, position feedback. Thus, there is no need to identify the system parameters for nominal model before the controller design. The proposed algorithm is implemented and compared with conventional SMC, and sliding mode control with sliding perturbation observer (SMCSPO) in MATLAB SimMechanics based virtual environment. The comparison results validate the robustness of the proposed technique in the presence of perturbation and show a more reduced trajectory tracking error than the conventional SMC and SMCSPO.

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Section: Introductionmentioning

confidence: 99%

Robust Control Design for Accurate Trajectory Tracking of Multi-Degree-of-Freedom Robot Manipulator in Virtual Simulator

et al. 2022

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“…However, the tracking accuracy would also be reduced in this case [ 42 ]. A few intelligent controllers have been adopted to effectively solve chattering problems [ 43 , 44 , 45 ]. The application of intelligent methods into controlling is also not easy, since they often need a lot of parameters or complex tuning methods for the parameters.…”

Section: Introductionmentioning

confidence: 99%

A Novel Active Fault-Tolerant Tracking Control for Robot Manipulators with Finite-Time Stability

Truong

Van

2021

Sensors

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Many terminal sliding mode controllers (TSMCs) have been suggested to obtain exact tracking control of robotic manipulators in finite time. The ordinary method is based on TSMCs that secure trajectory tracking under the assumptions such as the known robot dynamic model and the determined upper boundary of uncertain components. Despite tracking errors that tend to zero in finite time, the weakness of TSMCs is chattering, slow convergence speed, and the need for the exact robot dynamic model. Few studies are handling the weakness of TSMCs by using the combination between TSMCs and finite-time observers. In this paper, we present a novel finite-time fault tolerance control (FTC) method for robotic manipulators. A finite-time fault detection observer (FTFDO) is proposed to estimate all uncertainties, external disturbances, and faults accurately and on time. From the estimated information of FTFDO, a novel finite-time FTC method is developed based on a new finite-time terminal sliding surface and a new finite-time reaching control law. Thanks to this approach, the proposed FTC method provides a fast convergence speed for both observation error and control error in finite time. The operation of the robot system is guaranteed with expected performance even in case of faults, including high tracking accuracy, small chattering behavior in control input signals, and fast transient response with the variation of disturbances, uncertainties, or faults. The stability and finite-time convergence of the proposed control system are verified that they are strictly guaranteed by Lyapunov theory and finite-time control theory. The simulation performance for a FARA robotic manipulator proves the proposed control theory’s correctness and effectiveness.

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“…In addition, the singularity problems are appeared in some special cases. To resolve the two disadvantages, the fast TSMC (FTSMC) [29][30][31] and the non-singular TSMC (NTSMC) [32,33] are used. Unfortunately, the two controllers just solve the two problems separately.…”

Section: Introductionmentioning

confidence: 99%

An Active Fault-Tolerant Control for Robotic Manipulators Using Adaptive Non-Singular Fast Terminal Sliding Mode Control and Disturbance Observer

Nguyen

Kang

2021

Actuators

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In this study, a fault-tolerant control (FTC) tactic using a sliding mode controller–observer method for uncertain and faulty robotic manipulators is proposed. First, a finite-time disturbance observer (DO) is proposed based on the sliding mode observer to approximate the lumped uncertainties and faults (LUaF). The observer offers high precision, quick convergence, low chattering, and finite-time convergence estimating information. Then, the estimated signal is employed to construct an adaptive non-singular fast terminal sliding mode control law, in which an adaptive law is employed to approximate the switching gain. This estimation helps the controller automatically adapt to the LUaF. Consequently, the combination of the proposed controller–observer approach delivers better qualities such as increased position tracking accuracy, reducing chattering effect, providing finite-time convergence, and robustness against the effect of the LUaF. The Lyapunov theory is employed to illustrate the robotic system’s stability and finite-time convergence. Finally, simulations using a 2-DOF serial robotic manipulator verify the efficacy of the proposed method.

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Implementation of an Adaptive Neural Terminal Sliding Mode for Tracking Control of Magnetic Levitation Systems

Cited by 26 publications

References 51 publications

Robust Control Design for Accurate Trajectory Tracking of Multi-Degree-of-Freedom Robot Manipulator in Virtual Simulator

Robust Control Design for Accurate Trajectory Tracking of Multi-Degree-of-Freedom Robot Manipulator in Virtual Simulator

A Novel Active Fault-Tolerant Tracking Control for Robot Manipulators with Finite-Time Stability

An Active Fault-Tolerant Control for Robotic Manipulators Using Adaptive Non-Singular Fast Terminal Sliding Mode Control and Disturbance Observer

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