Robust Sliding Mode Control with Integral Sliding surface of an underactuated rotary hook system

Tho, Ho Duc; Tasaki, Ryosuke; Kaneshige, Akihiro; Miyoshi, Takanori; Terashima, Kazuhiko

doi:10.1109/aim.2017.8014149

Cited by 10 publications

(9 citation statements)

References 24 publications

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“…However, since the sliding surface is coupled, the convergence of the states θ e and δ to their corresponding equilibrium points cannot be ensured simultaneously, especially with the presence of the uncertainties such as hydrodynamic parameter variation or disturbances. In order to overcome this problem, Tho et al [15,16,28] derived the algebraic inequality of the controller gains using a robust stability analysis with Lyapunov's linearization method. Therefore, based on this method, the robust stability analysis of the offshore crane is conducted in this section.…”

Section: Integral Sliding Mode Controller(ismc) Designmentioning

confidence: 99%

A Robust Payload Control System Design for Offshore Cranes: Experimental Study

et al. 2021

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This paper presents a robust controller design of payload position control for an offshore crane facing disturbance and parametric uncertainties. The offshore operations with cranes while lifting and lowering a payload can be dangerous since safety and efficiency are affected by waves, wind and ocean currents. Such harsh sea conditions put the offshore crane and payload through unwanted disturbances and parametric uncertainties, which requires a robust control system to guarantee reliable performance of these systems. In this paper, we detail a controller designed based on uniformly ultimately bounded (UUB) theory, combined with the input-output linearization control technique (IOLC). The stability of the closed-loop system under the UUB conditions is analyzed using the energy-based Lyapunov function. To evaluate the control performance of the proposed controller, along with an IOLC and an integral sliding mode controller (ISMC), a comparison study is also conducted. The control performance and efficiency of the proposed controller are validated through experiments on an offshore crane model.

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Section: Integral Sliding Mode Controller(ismc) Designmentioning

confidence: 99%

A Robust Payload Control System Design for Offshore Cranes: Experimental Study

et al. 2021

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“…[15,16]. In [20], robust integral sliding mode control (ISMC) was proposed for an underactuated rotary hook system in order to deal with parametric uncertainties presenting themselves in the system's parameters. Pan et al studied the modification of the integral sliding variable degrades, and suggested that the switching element is smoothed by using a low-pass filter [21].…”

Section: Introductionmentioning

confidence: 99%

“…Secondly, our algorithm was realized and verified in a two wheel vehicle system. In the literature, researchers either applied their work to nonlinear systems using numerically simulated results [21,24], or realized their algorithms in a linear system [20,22,23]. Although nonlinearities were considered in [22,23], they were treated as disturbances instead of dynamics themselves.…”

mentioning

confidence: 99%

Proportional-Integral Sliding Mode Control with an Application in the Balance Control of a Two-Wheel Vehicle System

Lin

Hsiao

2020

Applied Sciences

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A balance control method, the proportional-integral sliding mode control (PISMC), is proposed to control the tilt attitude of an experimental two-wheel vehicle system (TWVS). Based on our previous work of implementing a generalized PISMC to control a linearized dynamical system, this paper extends the algorithm to a wider range: First, the control design of a weighted-control system is proposed. Secondly, our algorithm was realized and verified in a TWVS using its original nonlinear model. Thirdly, a systematical way to tune parameters are presented. The robustness of the proposed algorithm is also discussed in this paper. The simulation results of this work validate that the PISMC has better robustness to counteract the external disturbances than the conventional sliding mode control (SMC) does. Additionally, the experimental results show that the PISMC is capable of autonomously balancing the TWVS more effectively than the conventional SMC. The successful implementation of our algorithm potentially extends the implementation of the PISMC to various nonlinear and emerging systems.

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“…Due to the advantage of the conventional sliding mode control, the closed‐loop system is insensitive to the parameter perturbation and external disturbance only during the sliding phase. For the sake of improving the robustness of the whole system, the integral sliding mode control that can eliminate the reaching phase of the conventional sliding mode control was widely applied in EL systems . Tho et al investigated a robust integral sliding mode controller that can make the system slide on the sliding surface at the very beginning of the motion for an underactuated rotary hook system.…”

Section: Introductionmentioning

confidence: 99%

“…For the sake of improving the robustness of the whole system, the integral sliding mode control that can eliminate the reaching phase of the conventional sliding mode control was widely applied in EL systems . Tho et al investigated a robust integral sliding mode controller that can make the system slide on the sliding surface at the very beginning of the motion for an underactuated rotary hook system. In order to weaken the chattering phenomenon, Lee et al proposed an adaptive robust controller for robot manipulators using the adaptive integral sliding mode control and time delay estimation.…”

Section: Introductionmentioning

confidence: 99%

Integral sliding mode control for Euler‐Lagrange systems with input saturation

Guo

Huang

2018

Intl J Robust & Nonlinear

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This paper investigates the robust control for the Euler-Lagrange (EL) system with input saturation by using the integral sliding mode control and adaptive control. An integral sliding mode surface that is suitable for solving the problem of the input constraint is given based on the saturation function. By using the integral sliding mode surface, two robust antisaturation controllers are designed for the EL system with external disturbances. The first controller can deal with the external disturbances with known bounds, whereas the second one can compensate the external disturbances with unknown bounds by using the adaptive control. Finally, the effectiveness of the proposed controllers is demonstrated by strict theoretical analysis and numerical simulations. KEYWORDS adaptive control, Euler-Lagrange system, input saturation, integral sliding mode control, robust control 1088

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Robust Sliding Mode Control with Integral Sliding surface of an underactuated rotary hook system

Cited by 10 publications

References 24 publications

A Robust Payload Control System Design for Offshore Cranes: Experimental Study

A Robust Payload Control System Design for Offshore Cranes: Experimental Study

Proportional-Integral Sliding Mode Control with an Application in the Balance Control of a Two-Wheel Vehicle System

Integral sliding mode control for Euler‐Lagrange systems with input saturation

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