Practical Tracking Control of Robot Manipulators With Continuous Fractional-Order Nonsingular Terminal Sliding Mode

Wang, Yaoyao; Gu, Lin; Xu, Yuandong; Cao, Xiaoxu

doi:10.1109/tie.2016.2569454

Cited by 309 publications

(174 citation statements)

References 23 publications

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“…Theorem: Considering the defined robotic manipulator (12) which has existing uncertainties, external load disturbance, and actuator faults, with the designed sliding mode surface (14) and control law (18), the system trajectory of robotic manipulator converges in finite-time with the adaptive laws (21)(22)(23) and Assumption (16)(17).…”

Section: Fonftsm-ftc Stability Analysismentioning

confidence: 99%

“…FO controller with TSM and NTSM has been exploited in [3,22], respectively. Moreover, model-free technique using Continuous Fractional-order Nonsingular Terminal Sliding Mode Control (CFONTSM) based on TDE has been proposed for practical tracking of robotic manipulators [21]. In [15], a remarkable technique named Adaptive Fractional-order Non-singular Fast Terminal Sliding Mode Control (AFONTSM) is proposed for tracking of robotic manipulator.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Fault Tolerant Control Using Fractional-order Terminal Sliding Mode Control for Robotic Manipulators

Ahmed¹,

Wang²,

Tian³

2018

STUD INFORM CONTROL

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Section: Fonftsm-ftc Stability Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Fault Tolerant Control Using Fractional-order Terminal Sliding Mode Control for Robotic Manipulators

Ahmed¹,

Wang²,

Tian³

2018

STUD INFORM CONTROL

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“…Therefore, the redundancy resolution problem had been widely studied to properly adopt the abovementioned mode since the UVMS usually has more than six degree of freedoms (DOFs). After the redundancy resolution problem is properly handled, advanced control methods [4][5][6][7][8][9][10] can be applied to enhance the working precision.…”

Section: Introductionmentioning

confidence: 99%

A new redundancy resolution for underwater vehicle–manipulator system considering payload

Wang

Jiang

Yan

et al. 2017

International Journal of Advanced Robotic Systems

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For the motion coordination problem between the underwater vehicle and manipulator of the underwater vehiclemanipulator system, a new redundancy resolution method is proposed and investigated. The proposed method mainly has two parts: a fuzzy logic part and a multitasks weighted gradient projection method part. The fuzzy logic part is used to decide the weight factors of the motion distribute matrix and the priorities of all the secondary objectives, while the multitasks weighted gradient projection method part is used to handle the secondary objectives with the weight factors and priorities decided by the fuzzy logic part. Moreover, a new secondary objective is proposed to optimize underwater vehicle-manipulator system's attitude, which takes the payload into consideration. Finally, the effectiveness of the proposed redundancy resolution is verified through some comparative simulations.

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“…manifold which is asymptotically stable, and the latter has more advantages such as faster response and higher precision [9,10]. The authors thank the Associate Editor and the anonymous reviewers for their valuable suggestions and critical comments to improve the paper.…”

Section: Introductionmentioning

confidence: 99%

FTESO‐Based Finite Time Control for Underactuated System Within a Bounded Input

Wang¹,

Zhou²,

Chen³

et al. 2017

Asian Journal of Control

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Finite time control problem is investigated for a class of underactuated systems with uncertainties and external disturbances. For the sake of expanding control region furthest within a bound input, finite time extended state observer (FTESO) and a novel adaptive terminal sliding mode (ATSM) controller are applied to improve the stability performance of system. Compared to the general extended state observer (ESO), FTESO makes use of fractional powers to reduce the estimation errors to zero in finite time. The coordinate transformation is made for more degrees of design freedom. Rigorous analysis of finite time convergence results has been performed through Lyapunov theory and sufficient conditions are provided for the observer/controller-design. Finally, simulation results on the Rotating Inverted Pendulum are given to demonstrate the effectiveness of the proposed controller and observer.

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Practical Tracking Control of Robot Manipulators With Continuous Fractional-Order Nonsingular Terminal Sliding Mode

Cited by 309 publications

References 23 publications

Fault Tolerant Control Using Fractional-order Terminal Sliding Mode Control for Robotic Manipulators

Fault Tolerant Control Using Fractional-order Terminal Sliding Mode Control for Robotic Manipulators

A new redundancy resolution for underwater vehicle–manipulator system considering payload

FTESO‐Based Finite Time Control for Underactuated System Within a Bounded Input

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