Robust fast finite-time sliding mode control for industrial robot manipulators

Gambhire, S. J.; Kanth, Krishna; Malvatkar, G. M.; Londhe, P. S.

doi:10.1007/s40435-018-0476-1

Cited by 18 publications

(5 citation statements)

References 33 publications

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“…By considering the same equation Eq. ( 17) , The concept of fast sliding surface proposed by [6,7,9,10,12] as follows: Consider the tracking error:…”

Section: Design Of Ftsmc For Kaplan Hydroturbine Governor Systemmentioning

confidence: 99%

Robust Controller for Kaplan Hydroturbine Governor System Based on Fast Terminal Sliding Mode Control (FTSMC)

Samba¹,

Tamtsia²,

Nneme³

et al. 2020

EJERS

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In this paper a fast terminal sliding mode control (FTSMC) is used for speed control of Kaplan hydroturbine governing system in the presence of load torque disturbance. The stability of the proposed controller is proved with the lyapunov function method.The results indicate that the proposed terminal sliding mode controllers not only have a faster response and allows to carry out high performances as well in precision as in finite time of convergence. Moreover, the comparisons of the dynamic performances between the proposed fast terminal sliding mode controllers (FTSMC) and non-singular fast terminal sliding mode controllers (NSTSMC) , are discussed at the end of this paper, where the effectiveness and robustness superiority of the fast terminal sliding mode controller proposed also is been verified.

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“…By considering the same equation Eq. ( 17) , The concept of fast sliding surface proposed by [6,7,9,10,12] as follows: Consider the tracking error:…”

Section: Design Of Ftsmc For Kaplan Hydroturbine Governor Systemmentioning

confidence: 99%

Robust Controller for Kaplan Hydroturbine Governor System Based on Fast Terminal Sliding Mode Control (FTSMC)

Samba¹,

Tamtsia²,

Nneme³

et al. 2020

EJERS

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“…The ways to settle the inherent chattering of SM involve the reaching law method, 31,32 high-order SM method 33,34 and the saturation function method. 35 The reaching law is an effective method to solve chattering, which can effectively boost the dynamic performance of the SMC approach mode and improve the robustness of the control system. Literature 36 raised the exponential reaching law (ERL) and power reaching law (PRL).…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fractional-order Non-singular Fast Terminal Sliding Mode Control Based on Fixed Time Observer

Shi

Zhang

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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Aiming at the problem of low tracking accuracy of the manipulator in the presence of model parameter errors and external disturbance, this paper proposes an adaptive fractional-order nonsingular fast terminal sliding mode (AFONFTSM) controller based on a fixed-time disturbance observer (FTDO). The controller is split into three portions. First, a fractional-order nonsingular fast terminal sliding mode (FONFTSM) surface is designed to improve the tracking accuracy and convergence speed of the error state. Secondly, to enhance the performance of the system state in the approaching mode, an adaptive variable exponential power reaching law (AVEPRL) is designed, which changes the coefficient of the exponential term through the size of the system state. Meanwhile, adaptive control is used to modulate one item of the reaching law, which improves the anti-interference of the system. In the end, the real-time estimation of the external disturbance is carried out by the FTDO, which solves the problem that the magnitude of the external disturbance is difficult to be determined in the actual engineering. And the stability is verified by the Lyapunov theory. The simulation results display that the controller raised in this paper has better tracking precision, faster convergence speed, and stronger robustness.

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“…A great deal of effort has been devoted to the finite-time convergence guarantee of the system states. The control methods that could provide finite-time stability include the higherorder sliding mode control (HOSMC) [10,11], the terminal SMC (TSMC) [12,13], the nonsingular TSMC (NTSMC) [14,15], fast TSMC (FTSMC) [16,17], global FTSMC (GFTSMC) [18,19], the nonsingular fast TSMC (NFTSMC) [20,21], and the finite-time TSMC (FnTSMC) [22,23]. HOSMC is capable of providing finite-time stability, and chattering reduction can also be achieved by regularization of switching functions and by considering (virtual) actor dynamics as input low-pass filters.…”

Section: Introductionmentioning

confidence: 99%

A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability

Truong

Kang

et al. 2021

Sensors

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In this paper, a robust observer-based control strategy for n-DOF uncertain robot manipulators with fixed-time stability was developed. The novel fixed-time nonsingular sliding mode surface enables control errors to converge to the equilibrium point quickly within fixed time without singularity. The development of the novel fixed-time disturbance observer based on a uniform robust exact differentiator also allows uncertain terms and exterior disturbances to be proactively addressed. The designed observer can accurately approximate uncertain terms within a fixed time and contribute to significant chattering reduction in the traditional sliding mode control. A robust observer-based control strategy was formulated, according to a combination of the fixed-time nonsingular terminal sliding mode control method and the designed observer, to yield global fixed time stability for n-DOF uncertain robot manipulators. The proposed controller proved definitively that it was able to obtain global stabilization in fixed time. The approximation capability of the proposed observer, the convergence of the proposed sliding surface, and the effectiveness of the proposed control strategy in fixed time were fully confirmed by simulation performance on an industrial robot manipulator.

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Robust fast finite-time sliding mode control for industrial robot manipulators

Cited by 18 publications

References 33 publications

Robust Controller for Kaplan Hydroturbine Governor System Based on Fast Terminal Sliding Mode Control (FTSMC)

Robust Controller for Kaplan Hydroturbine Governor System Based on Fast Terminal Sliding Mode Control (FTSMC)

Adaptive Fractional-order Non-singular Fast Terminal Sliding Mode Control Based on Fixed Time Observer

A Robust Observer-Based Control Strategy for n-DOF Uncertain Robot Manipulators with Fixed-Time Stability

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