Position stabilization of a Stewart platform: High-order sliding mode observers based approach

Fraguela, L.; Alexandrov, V. V.

doi:10.1016/j.jfranklin.2011.08.002

Cited by 22 publications

(20 citation statements)

References 12 publications

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“…The stability of higher-order super-twisting sliding mode controller for any match uncertainties has been proved by Kamal and Bandyopadhyay in [45]. The authors in [32,40,41] have demonstrated the robustness of super-twisting higher-order sliding mode observer to uncertainties. Therefore, the proposed method can be used for the control of an uncertain robot manipulator without stability problems.…”

Section: Proposed Methodsmentioning

confidence: 94%

“…Based on (7) and (14), the state estimation error is obtained by the following formulation: Figure 3 illustrates the block diagram of ESMC for a robot manipulator. According to [32,40], the 3rd order STSMO is obtained by the following formulations:…”

Section: Estimated State Sliding Mode Controlmentioning

confidence: 99%

“…Based on (4), if we defined a constant, (Θ) and Ω(X 1 , X 2 ,X 2 , t) < Θ, then according to [32,40,41] the convergence and stability can be guaranteed by defining the sliding gains (α 0 , α 1 , α 2 ) as follows:…”

Section: Estimated State Sliding Mode Controlmentioning

confidence: 99%

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Robust Composite High-Order Super-Twisting Sliding Mode Control of Robot Manipulators

TayebiHaghighi¹,

Piltan

Kim

2018

Robotics

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This paper describes the design of a robust composite high-order super-twisting sliding mode controller (HOSTSMC) for robot manipulators. Robot manipulators are extensively used in industrial manufacturing for many complex and specialized applications. These applications require robots with nonlinear mechanical architectures, resulting in multiple control challenges in various applications. To address this issue, this paper focuses on designing a robust composite high-order super-twisting sliding mode controller by combining a higher-order super-twisting sliding mode controller as the main controller with a super-twisting higher-order sliding mode observer as unknown state measurement and uncertainty estimator in the presence of uncertainty. The proposed method adaptively improves the traditional sliding mode controller (TSMC) and the estimated state sliding mode controller (ESMC) to attenuate the chattering. The effectiveness of a HOSTSMC is tested over six degrees of freedom (DOF) using a Programmable Universal Manipulation Arm (PUMA) robot manipulator. The proposed method outperforms the TSMC and ESMC, yielding 4.9% and 2% average performance improvements in the output position root-mean-square (RMS) error and average error, respectively.

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Section: Proposed Methodsmentioning

confidence: 94%

Section: Estimated State Sliding Mode Controlmentioning

confidence: 99%

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Robust Composite High-Order Super-Twisting Sliding Mode Control of Robot Manipulators

TayebiHaghighi¹,

Piltan

Kim

2018

Robotics

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“…Recently, many SMC schemes, such as smooth SMC, 53 terminal SMC, 54 internal SMC, 55 and higherorder SMC [56][57][58] have been successfully applied to the Stewart platform. However, regardless of the SMC structure, the upper boundaries of uncertainty are designed as constant in the previous literature.…”

Section: General Sliding Mode Controlmentioning

confidence: 99%

“…If the SMC law is chosen as (57) and the upper boundary of uncertainty is computed by (58)- (61), then the sliding surface s smc will asymptotically converge to zero and the desired trajectories can be achieved.…”

Section: Adaptive Vector Sliding Mode Fault-tolerant Controlmentioning

confidence: 99%

Adaptive vector sliding mode fault-tolerant control of the uncertain Stewart platform based on position measurements only

Meng

Zhang

et al. 2014

Robotica

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Link to this article: http://journals.cambridge.org/abstract_S0263574714002276 How to cite this article: Qiang Meng, Tao Zhang, Jing-feng He and Jing-yan Song Adaptive vector sliding mode fault-tolerant control of the uncertain Stewart platform based on position measurements only. Robotica, SUMMARYThis paper investigates the trajectory tracking of a Stewart platform, which is a typical multi-input multi-output nonlinear system, with unmodeled dynamics, parameter uncertainties, friction, and unpredictable actuator faults. An adaptive vector sliding mode fault-tolerant control law is derived to ensure the system is insensitive to uncertainties and drive the state variable errors of the closed-loop system to converge to the origin. Moreover, novel adaptive laws are proposed to update the upper boundary of uncertainty according to the actual system state, which greatly reduces the chattering of sliding mode control. Furthermore, velocity signals are estimated by introducing a simple nonlinear observer, resulting in the proposed controller requiring position measurements only. Finally, numerical simulations illustrate the effectiveness of the proposed control scheme.

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Adaptive high‐order sliding mode controller‐observer for MIMO uncertain nonlinear systems

Hendel

Khaber

Essounbouli

2019

Asian Journal of Control

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In this paper, an adaptive high-order sliding mode controller-observer is proposed for multi input-multi output uncertain systems with application to robotic manipulators. Firstly, a type-2 Takagi-Sugeno fuzzy system is used to model the original system. Next, with the unavailability of velocity measurement, a fuzzy high-order sliding mode observer is designed to estimate both the joint velocities and uncertainties. Moreover, based on a super twisting second-order sliding mode, the proposed robust controller generates smooth control and guarantees finite-time convergence to the third-order sliding set with respect to the sliding variable by keeping second-order sliding mode constraint. The controller gains are generated based on an adaptive estimation scheme without overestimation. The finite-time stability of the suggested controller is proved by using an homogeneous and strict Lyapunov function. Finally, the obtained simulation results for two-link robot manipulators demonstrate the effectiveness of the proposed controller.

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Position stabilization of a Stewart platform: High-order sliding mode observers based approach

Cited by 22 publications

References 12 publications

Robust Composite High-Order Super-Twisting Sliding Mode Control of Robot Manipulators

Robust Composite High-Order Super-Twisting Sliding Mode Control of Robot Manipulators

Adaptive vector sliding mode fault-tolerant control of the uncertain Stewart platform based on position measurements only

Adaptive high‐order sliding mode controller‐observer for MIMO uncertain nonlinear systems

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