Robust tracking control of triaxial angular velocity sensors using adaptive sliding mode approach

Fei, Juntao; Fan, Xiaopeng; Dai, Weili; Shen, Jinrong; Hua, Mingang

doi:10.1007/s00170-010-2771-7

Cited by 6 publications

(6 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In addition, we make the following assumptions for the parameter uncertainty and disturbance (refer to [22]): Assume that a set of dynamic output feedback controllers have been designed, i.e.,…”

Section: Problem Statement and Preliminariesmentioning

confidence: 99%

“…In addition, we make the following assumptions for the parameter uncertainty and disturbance (refer to ):Assumption The pair ( A p , B p ) is controllable and the pair ( A p , C p ) is observable. Assumption The matched and unmatched lumped uncertainty and external disturbance f m ( t ) and f u ( t ) are bounded such as || f m ( t , x )|| ≤ η m and || f u ( t , x )|| ≤ η u , where η m and η u are known positive constants. ||·|| is the Euclidean norm. Lemma (Barbalat lemma) .…”

Section: Problem Statement and Preliminariesmentioning

confidence: 99%

“…Particularly, the adaptive sliding mode control has the advantages of combining the robustness of variable structure methods with the tracking capability of adaptive control strategies. Different adaptive sliding mode control strategies have been presented and widely applied to many practical control problems (see the early works [16,17] and other recent references [18][19][20][21][22][23]). Moreover, for switched systems, there exist only a few research results in which the sliding mode control technique is employed [24][25][26].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust Bumpless Transfer Design Using Adaptive Sliding Mode Approach

Qi¹,

Bao²

2012

Asian Journal of Control

View full text Add to dashboard Cite

This study proposes a robust bumpless transfer scheme for controller switched systems with parametric uncertainty and external disturbances. It is based on an additional compensator, which is activated at and before the switching time, for reducing the control discontinuities. The designed bumpless transfer compensator is given based on model reference and adaptive sliding mode control. Conditions to guarantee the stability of a model matching closed‐loop system are provided using a Lyapunov function. Numerical simulations demonstrate the effectiveness of the proposed method.

show abstract

Section: Problem Statement and Preliminariesmentioning

confidence: 99%

Section: Problem Statement and Preliminariesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust Bumpless Transfer Design Using Adaptive Sliding Mode Approach

Qi¹,

Bao²

2012

Asian Journal of Control

View full text Add to dashboard Cite

show abstract

“…2 Controlling the nonlinear systems subjected to model uncertainties and external disturbances would be effectively perused by SMC. [1][2][3][4][5][6] In ref. [1], an inverse controller and high-order SMC are implemented together to deal with the external disturbances and the model uncertainties of a robot manipulator.…”

Section: Introductionmentioning

confidence: 99%

Robust Hybrid Fractional Order Proportional Derivative Sliding Mode Controller for Robot Manipulator Based on Extended Grey Wolf Optimizer

Komijani

Masoumnezhad²,

Zanjireh³

et al. 2019

Robotica

View full text Add to dashboard Cite

SUMMARYThis paper presents a novel robust hybrid fractional order proportional derivative sliding mode controller (HFOPDSMC) for 2-degree of freedom (2-DOF) robot manipulator based on extended grey wolf optimizer (EGWO). Sliding mode controller (SMC) is remarkably robust against the uncertainties and external disturbances and shows the valuable properties of accuracy. In this paper, a new fractional order sliding surface (FOSS) is defined. Integrating the fractional order proportional derivative controller (FOPDC) and a new sliding mode controller (FOSMC), a novel robust controller based on HFOPDSMC is proposed. The bounded model uncertainties are considered in the dynamics of the robot, and then the robustness of the controller is verified. The Lyapunov theory is utilized in order to show the stability of the proposed controller. In this paper, the EGWO is developed by adding the emphasis coefficients to the typical grey wolf optimizer (GWO). The GWO and EGWO, then, are applied to optimize the proposed control parameters which result in the optimized GWO-HFOPDSMC and EGWO-HFOPDSMC, respectively. The effectivenesses of the optimized controllers (GWO-HFOPDSMC and EGWO-HFOPDSMC) are completely verified by comparing the simulation results of the optimized controllers with the typical FOSMC and HFOPDSMC.

show abstract

“…Leland [2] proposed a Lyapunov based adaptive control for a MEMS gyroscope. Fei et al [3] presented a scheme of using adaptive sliding mode robust tracking control for triaxial angular velocity sensors. Sung et al [4] developed the control of MEMS gyroscope through phase-domain analysis and design.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Global Sliding Mode Control for MEMS Gyroscope Using RBF Neural Network

Chu

Fei

2015

Mathematical Problems in Engineering

Self Cite

View full text Add to dashboard Cite

An adaptive global sliding mode control (AGSMC) using RBF neural network (RBFNN) is proposed for the system identification and tracking control of micro-electro-mechanical system (MEMS) gyroscope. Firstly, a new kind of adaptive identification method based on the global sliding mode controller is designed to update and estimate angular velocity and other system parameters of MEMS gyroscope online. Moreover, the output of adaptive neural network control is used to adjust the switch gain of sliding mode control dynamically to approach the upper bound of unknown disturbances. In this way, the switch item of sliding mode control can be converted to the output of continuous neural network which can weaken the chattering in the sliding mode control in contrast to the conventional fixed gain sliding mode control. Simulation results show that the designed control system can get satisfactory tracking performance and effective estimation of unknown parameters of MEMS gyroscope.

show abstract

Robust tracking control of triaxial angular velocity sensors using adaptive sliding mode approach

Cited by 6 publications

References 13 publications

Robust Bumpless Transfer Design Using Adaptive Sliding Mode Approach

Robust Bumpless Transfer Design Using Adaptive Sliding Mode Approach

Robust Hybrid Fractional Order Proportional Derivative Sliding Mode Controller for Robot Manipulator Based on Extended Grey Wolf Optimizer

Adaptive Global Sliding Mode Control for MEMS Gyroscope Using RBF Neural Network

Contact Info

Product

Resources

About