Robust Continuous Control for a Class of Mechanical Systems Based on Nonsingular Terminal Sliding Mode

Rascón, Raúl; Almeida, David I. Rosas; Rodríguez-Quiñonez, Julio C.

doi:10.1109/access.2020.2965596

Cited by 4 publications

(5 citation statements)

References 49 publications

(47 reference statements)

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“…But, the NN requires a large experimental dataset and the FLC requires knowledge of the system's behavior and a complex rule base for higher order systems. Nonlinear control techniques such as Backstepping [17] and Sliding mode control (SMC) [18]- [22] have been frequently used in the control of nonlinear systems with both external and internal disturbances because of their superior stability and robustness features. The major disadvantages of the SMC are the difficulties encountered in its application to underactuated systems and the chattering phenomenon, which causing the instability and damage in practical systems.…”

Section: Introductionmentioning

confidence: 99%

“…Furthermore, the most of the existing traditional SMC approaches are insensitive only to matched disturbances and cannot attenuate mismatched disturbances effectively. Various SMC methods such as Terminal SMC [18,19], Super-Twisting SMC [20], Disturbance observer based integral SMC [21], Fractional order SMC [22] have been proposed to overcome these problems. Some recent advances on SMC for the systems subject to uncertainty and disturbance are summarized in [23].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Model-Free Controller Design for Nonlinear Underactuated Systems With Uncertainties and Disturbances by Using Extended State Observer Based Chattering-Free Sliding Mode Control

Önen

2023

IEEE Access

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Most of the control strategies require a mathematical model or reasonable knowledge that is difficult to obtain for complex systems. Model-free control is a good alternative to avoid the difficulties and complex modeling procedures, especially if the knowledge about the system is insufficient. This paper presents a new control scheme completely independent of the system model. The proposed scheme combines sliding mode control (SMC) with intelligent proportional integral derivative (iPID) control based on a local model and extended state observer (ESO). Although the iPID control makes the proposed method model-free, it cannot guarantee that the tracking errors converge to zero asymptotically except the system is in a steady-state regime. Therefore, the SMC is added to the control scheme to ensure the convergence by minimizing the estimation errors of the observer. The proposed iPIDSMC controller is tested in the presence of different parameter variations and external disturbances on an inverted pendulum -cart (IPC), which is a highly unstable underactuated system with nonlinear coupled dynamics. The proposed controller is compared with the PID, iPID and Hierarchical Sliding Mode Control (HSMC) for a clearer evaluation. Simulation results showed that the proposed controller is extremely insensitive to parameter variations, matched and mismatched disturbances and the control signal of the proposed method is chattering-free, even though it is based on a discontinuous control action.INDEX TERMS Extended state observer, external disturbance, intelligent PID, model-free control, robust control, sliding mode control, uncertainties, underactuated system.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Model-Free Controller Design for Nonlinear Underactuated Systems With Uncertainties and Disturbances by Using Extended State Observer Based Chattering-Free Sliding Mode Control

Önen

2023

IEEE Access

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“…Moreover, the continuous control law in these linear sliding-mode control strategies for PMSAs is not guaranteed. In contrast with the above discontinuous linear sliding-mode control methods, a continuous non-singular terminal sliding-mode controller can achieve finite-time convergence, and it is free of singularity and chattering [19][20][21]. Beyond that, CNTSMC has a high steady-state accuracy [19].…”

Section: Introductionmentioning

confidence: 99%

Continuous non‐singular terminal sliding‐mode control of permanent magnet spherical actuator for trajectory tracking based on a modified nonlinear disturbance observer

Wen

Liu

Wang

et al. 2022

IET Electric Power Appl

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Multi‐degree‐of‐freedom permanent magnet spherical actuators (PMSAs) are highly nonlinear, coupled, and multivariable systems that are subject to different types of disturbances including unknown payloads, unmodelled dynamics, frictions, and other external disturbances, which adversely affect the trajectory tracking performance of a system. In this paper, a disturbance‐observer‐based continuous non‐singular terminal sliding‐mode control (NDOB‐CNTSMC) strategy is developed for a PMSA to enhance its trajectory tracking performance. Firstly, a nonlinear disturbance observer (NDOB) with a parameter design method is proposed to suppress uncertainty and reject disturbance in a PMSA trajectory tracking control system. Secondly, a continuous non‐singular terminal sliding‐mode controller (CNTSMC) is presented to compensate for the effect of the disturbance observation error and unobservable disturbances. The stability of the proposed control strategy is proved by the Lyapunov theorem. Both simulation and experimental results have shown that the control strategy proposed in this research can effectively address the issues of the inaccuracy of modelling and various disturbances and improve the trajectory tracking precision of the PMSA.

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“…The method reduces the influence of external and system parameters on the control effect, and the results show that it has good control performance. Reference [15] combines the non-singular terminal sliding mode controller with the interference estimator to form a new type of mechanical control mechanism. Under the premise of ensuring the control performance of the system, the service life of the components is improved.…”

Section: Introductionmentioning

confidence: 99%

New Sliding Mode Control Based on Tracking Differentiator and RBF Neural Network

Guo

et al. 2022

Electronics

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In order to solve the problem that the control system of permanent magnet synchronous motor (PMSM) is difficult to meet the high control accuracy due to the influence of non-repeated disturbances such as external disturbance, system parameter variation, and friction force during operation, a novel sliding mode control (NSMC) method based on tracking differentiator (TD) and radial basis (RBF) neural network was proposed. Firstly, a new sliding mode reaching law is proposed by adding the state variables to the traditional exponential reaching law, which can effectively reduce the chattering of the system. Then, the speediest tracking differentiator is designed to estimate the given speed signal and its differential signal, to realize the novel sliding mode variable structure algorithm. Finally, the RBF neural network is used to compensate for the uncertainty and external interference of the system; the robustness of the system is further improved by adaptive weight updating. The simulation results show that, by comparing with the traditional exponential approach law, the overshoot of 22 r/min is reduced by the control method based on the new hybrid reaching law, the speed decrease amplitude is reduced by 77.1% under load disturbance, and the speed recovery time is shortened by 0.059 s. After the optimization of the new sliding mode control method based on tracking differentiator and RBF neural network, the overshoot of 86 r/min is further reduced, the speed decrease amplitude of load disturbance is reduced again by 48.5%, and the speed recovery time is shortened again by 0.073 s.

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Robust Continuous Control for a Class of Mechanical Systems Based on Nonsingular Terminal Sliding Mode

Cited by 4 publications

References 49 publications

Model-Free Controller Design for Nonlinear Underactuated Systems With Uncertainties and Disturbances by Using Extended State Observer Based Chattering-Free Sliding Mode Control

Model-Free Controller Design for Nonlinear Underactuated Systems With Uncertainties and Disturbances by Using Extended State Observer Based Chattering-Free Sliding Mode Control

Continuous non‐singular terminal sliding‐mode control of permanent magnet spherical actuator for trajectory tracking based on a modified nonlinear disturbance observer

New Sliding Mode Control Based on Tracking Differentiator and RBF Neural Network

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