Sliding mode control of a class of underactuated system with non-integrable momentum

Chen, Lejun; Van, Mien

doi:10.1016/j.jfranklin.2020.07.022

Cited by 11 publications

(5 citation statements)

References 32 publications

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“…Many strategies have been successfully integrated into FTC systems to overcome the aforesaid challenges, according to published research results [25][26][27][28]. Among the methods mentioned, the sliding mode control (SMC) is used as a superior control method to overcome the system uncertainty, and has strong robustness [29][30][31]. Because of its simple method, fast response speed, and strong robustness, it has been widely employed.…”

Section: Introductionmentioning

confidence: 99%

“…A hybrid control strategy with neural adaptive sliding mode and DO is proposed to fully estimate the effects of uncertainties, disturbances, faults, and actuator saturation. Compared with the conventional SMC [29,31] and TSMC [32,37], the proposed FTC method designs a novel integral TSMC (ITSMC) based on adaptive RBFNN and DO, which can control the error within the allowed performance range, enhance the robustness, and reduce the chattering of the system. 2.…”

Section: Introductionmentioning

confidence: 99%

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Decentralized fault-tolerant control of modular robot manipulators with actuator saturation: neural adaptive integral terminal sliding mode-based control approach

Fan

et al. 2023

Complex Intell. Syst.

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A novel neural adaptive integral terminal sliding mode control for decentralized fault-tolerant control strategy, including the integral terminal sliding mode surface, the nonlinear disturbance observer, the radial basis neural network and robust controller, is presented in this paper to achieve fault-tolerant control of modular robot manipulators. First, the integral terminal sliding mode is designed for the fault-tolerant controller. Then, to boost the performance of the controlled system, the radial basis neural network and disturbance observer are introduced to approximate the nonlinear terms and disturbances. The reconstructed approximate uncertainty term is applied as compensation. Next, the super-twisting technique is employed to compensate for estimation errors to ensure stability. In addition, for the actuator saturation problem, the radial basis function neural network-based compensation control is proposed. Finally, the stability of the closed-loop robotic system is demonstrated based on Lyapunov theory. Computer simulations verified the efficiency and advantages of the presented approach.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Decentralized fault-tolerant control of modular robot manipulators with actuator saturation: neural adaptive integral terminal sliding mode-based control approach

Fan

et al. 2023

Complex Intell. Syst.

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“…Underactuated systems (USs) are the systems in which the spatial dimension of the control input vector is less than the configuration dimension of the system, i.e., the control inputs are less than the degrees of freedom of the system [1][2][3]. USs require fewer drivers and can be built with some of the drivers-related equipment removed in fully-actuated systems, which have very important significance in reducing volume, weight, energy consumption, and cost of the system.…”

Section: Introductionmentioning

confidence: 99%

Sliding Mode Control of Underactuated Nonlinear Systems Based on Piecewise Double Power Reaching Law

Yue

Meng

2022

Mathematical Problems in Engineering

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A sliding mode control (SMC) strategy using novel piecewise double power reaching law (PDPRL) for a class of fourth-order nonlinear underactuated systems (USs) is proposed to realize simultaneous control of the unactuated and the actuated part. A novel PDPRL is designed in the form of a piecewise function to reduce the chattering produced by SMC. The fixed-time convergence characteristic and the existence of maximum convergence time independent of the initial value of the sliding mode surface for the PDPRL are analyzed. Considering the uncertainties of model parameters and external disturbance in the USs, a supertwisting disturbance observer (STDO) is provided to accurately estimate the disturbance in real time, and the estimated value is compensated to the controller. The underactuated inverted pendulum system is taken to verify the effectiveness of the devised strategy, and the simulation results show that the proposed strategy can reduce chattering, suppress the disturbance, and enhance the robustness of the system.

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“…The SMC scheme can then be designed to asymptotically stabilize the system 24‐26 . In Reference 27, a new SMC approach was developed for handling UMSs with non‐INM by maintaining a subset of actuated variables in sliding manifolds. Then, the non‐INM can be approximated by the INM within a finite time.…”

Section: Introductionmentioning

confidence: 99%

Adaptive hierarchical sliding mode control for full nonlinear dynamics of uncertain ridable ballbots under input saturation

Lee

Van

2021

Intl J Robust & Nonlinear

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This research proposes a nonlinear adaptive controller based on a hierarchical sliding mode control (HSMC) framework to stabilize the operation of a ridable ballbot based on the full nonlinear dynamics (FND). The FND of ballbots is a multiple‐input‐multiple‐output underactuated system with a non‐invertible input matrix. By applying a novel approach to transform the FND into two subsystems, the invertibility of the input matrix of the transformed subsystems can be guaranteed. Thus, an HSMC scheme can be applied to control the ridable ballbot system based on stabilizing the transformed subsystems. In addition, to improve the robustness of HSMC, a new adaptive law is proposed to deal with the effects of exogenous disturbances and parameter variations on the modeled dynamics. Chattering and actuator saturation phenomena are also reduced or avoided with the proposed controller. Comparative simulations are conducted to demonstrate the merit features of the proposed approach and the robustness of the developed control algorithm.

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Sliding mode control of a class of underactuated system with non-integrable momentum

Cited by 11 publications

References 32 publications

Decentralized fault-tolerant control of modular robot manipulators with actuator saturation: neural adaptive integral terminal sliding mode-based control approach

Decentralized fault-tolerant control of modular robot manipulators with actuator saturation: neural adaptive integral terminal sliding mode-based control approach

Sliding Mode Control of Underactuated Nonlinear Systems Based on Piecewise Double Power Reaching Law

Adaptive hierarchical sliding mode control for full nonlinear dynamics of uncertain ridable ballbots under input saturation

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