Quasi-Adaptive Sliding Mode Motion Control of Hydraulic Servo-Mechanism With Modeling Uncertainty: A Barrier Function-Based Method

Dong, Zhenle; Ma, Jianwei

doi:10.1109/access.2020.3014146

Cited by 9 publications

(8 citation statements)

References 36 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…(3) Assessment of the adaptation values for each squirrel position; (4) Sorting squirrel positions in ascending order according to the adaptation value of flying squirrels; (5) Assigning squirrels to hickory nut trees, acorn nut trees and normal trees; (6) Randomly selecting some squirrels in the normal trees to move toward the hickory nut tree and the rest to move toward the acorn nut trees; (7) While (does not meet the stopping criteria); (8) . ( 13) Bring the optimized parameters into the sliding mode control and end if the system requirements are satisfied.…”

Section: ) Random Initializationmentioning

confidence: 99%

“…Because the sliding mode control is not sensitive to parameters, so it can adapt to the requirements of the system well. At present, most controllers control the system by collecting real‐time data, so the research of discrete time domain sliding mode control (DSMC) is widely adopted [7–10]. Researchers have proposed a large number of DSMC methods [11, 12], which obtained the desired characteristics of the system through different reaching laws [13, 14], and then derived the controller for the system to track the expected trajectory.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Research on photovoltaic energy storage micro‐grid systems based on improved sliding mode control

Zhang

2022

IET Renewable Power Gen

View full text Add to dashboard Cite

In islanded microgrid systems, PV power generation efficiency and energy loss of storage battery are the current research trends. Due to the intermittent and fluctuating characteristics of PV power generation, various loads connected to the DC microgrid system would also bring DC bus voltage low-frequency fluctuations and other problems. In order to solve the above problems, an maximum power point tracking (MPPT) tracking strategy (sliding mode control based on squirrel search algorithm) is proposed in this study; meanwhile, a sliding mode control strategy based on an improved reaching law is designed. The components of the PV energy storage system and the control method are mainly focused on, and the PV energy storage system is optimized by improving the sliding mode control. The proposed control algorithm is verified and analyzed by MATLAB/Simulink simulation platform. Compared with the double integral sliding mode control algorithm MPPT tracking case, sliding mode control based on squirrel search algorithm shows excellent performance (short response time, good tracking maximum power point effect etc.). In addition, the sliding mode control based on the proposed reaching law reduces the system jitter, and effectively reduces jitter and vibration of the PV energy storage battery.

show abstract

Section: ) Random Initializationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Research on photovoltaic energy storage micro‐grid systems based on improved sliding mode control

Zhang

2022

IET Renewable Power Gen

View full text Add to dashboard Cite

show abstract

“…In [49], A barrier function adaptive nonsingular TSMC approach was designed to control quadrotor unmanned aerial vehicles with external disturbances, in which a novel nonsingular terminal sliding surface is suggested to guarantee convergence of the sliding surface to the origin in a limited time. The work in [50] provides a quasi-adaptive sliding mode method based on the barrier function to control the motion of the hydraulic servomechanism with modeling uncertainty. Also, barrier function-based adaptive high-order SMC has been used for the fast stabilization of a perturbed chain of integrators with bounded uncertainties in [51].…”

Section: Introductionmentioning

confidence: 99%

Chattering-Free Terminal Sliding Mode Control Based on Adaptive Barrier Function for Chaotic Systems With Unknown Uncertainties

et al. 2022

View full text Add to dashboard Cite

This paper designs and implements a chattering-free terminal sliding mode control approach for a class of chaotic systems with unknown uncertainties. It considers sliding mode control (SMC) to deal with the dynamic model uncertainties of the chaos system, and uses a combination of SMC with an adaptive control approach to solve the upper boundaries problem of unknown model uncertainties and their estimation. Chattering is completely eliminated without over estimating the control gains by adopting an adaptive continuous barrier function in the dynamic switching function. Using the Lyapunov's stability theory, it was shown that the proposed scheme can guarantee the convergence of system states to the vicinity of the sliding surface in finite time. Additionally, the adoption of a sliding surface with a nonlinear and integral switching function resulted in removing the reaching phase of the sliding surface and yielding a controller that is robust to uncertainties from the start. The effectiveness of the proposed control method was assessed using three scenarios implemented to a Liu's uncertain chaotic system in MATLAB/Simulink environment. The obtained results confirmed the ability of the proposed approach to achieve continuous and smooth control rules for such chaotic systems. Among the main attributes of the proposed control method are its ability to completely eliminate chattering and yield a robust performance against model uncertainties and unknown external disturbances; common issues in chaotic systems.INDEX TERMS Terminal sliding mode control, chaotic systems, adaptive barrier function, chattering-free, unknown uncertainty.

show abstract

“…Relevant scholars have studied the vibration suppression and joint torque minimization of redundant flexible hydraulic execution manipulator trajectory planning. Most of them are proposed using its redundant characteristics for self-motion planning, which not only guarantees the minimization of joint torque but also achieves a good vibration suppression effect [14,15]. For the research of the rigid-flexible two-link hydraulic actuator manipulator, the researchers proposed to use cubic spline function as the motion trajectory of the hydraulic actuator manipulator joint and use particle swarm optimization (PSO) to optimize the maximum amplitude of the residual vibration at the end [16][17][18].…”

Section: Introductionmentioning

confidence: 99%

Tracking and Analysing Error in Feedback Linearized Motion Trajectory of Hydraulic Actuator Based on the Internet of Things

Zhou

2022

Mobile Information Systems

View full text Add to dashboard Cite

In the current era of technology, the Internet of Things (IoT) is gaining more importance as compared to the rest of the technologies because of its tremendous improvement and application in various areas including tracking and error controlling of physical devices. Controlling physical equipment from afar has become necessary in today’s practice. This type of operation needs a robust infrastructure that connects various types of equipment, such as sensors, actuators, plants, and so on, with controllers located in remote locations, either centralized or decentralized, via a communication channel. The variety of platforms makes it difficult to integrate all of these components; nevertheless, the usage of the IoT effectively offers communication across several devices and platforms. However, the drive joints of the traditional hydraulic actuator arm mostly take the form of a combination of a motor and a reducer, resulting in a very small load-to-weight ratio and the power-to-volume ratio of the traditional hydraulic actuator arm. In addition, the load-bearing ratio is one of the important indicators to measure the performance of industrial robots. In response to this problem, this paper studies the combined advantages of hydraulic transmission, a six-degree-of-freedom hydraulic actuator based on a vane-type hydraulic swing cylinder as a joint. According to the performance requirements of the butterfly valve, the hydraulic actuator components, such as hydraulic cylinders, AC servo motors, and hydraulic pumps, have been selected and designed. Furthermore, the calculation and construction of hydraulic pipelines and integrated valve blocks have been accomplished, as has the selection summary of various actuator components. Considering joint flexibility, this research work carries out trajectory planning in joint space, during which it resolves the optimal value of each joint angle under the condition of joint flexibility and obtains a smoother joint motion parameter curve by relying on the layered structure of the IoT framework. The simulation results show that this method can ensure that the acceleration at the start and end time is 0, and it can avoid the vibration of the hydraulic actuator arm at the start and stop.

show abstract

Quasi-Adaptive Sliding Mode Motion Control of Hydraulic Servo-Mechanism With Modeling Uncertainty: A Barrier Function-Based Method

Cited by 9 publications

References 36 publications

Research on photovoltaic energy storage micro‐grid systems based on improved sliding mode control

Research on photovoltaic energy storage micro‐grid systems based on improved sliding mode control

Chattering-Free Terminal Sliding Mode Control Based on Adaptive Barrier Function for Chaotic Systems With Unknown Uncertainties

Tracking and Analysing Error in Feedback Linearized Motion Trajectory of Hydraulic Actuator Based on the Internet of Things

Contact Info

Product

Resources

About