Stabilisability analysis and design of UDE‐based robust control

Tian, Zhen; Zhong, Qing-Chang; Ren, Beibei; Yuan, Jingqi

doi:10.1049/iet-cta.2018.6012

Cited by 11 publications

(9 citation statements)

References 37 publications

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“…The UDE requires the control law and the dynamic model, and the disturbance is estimated by the filter, 45,46 which can be expressed as,…”

Section: The Udementioning

confidence: 99%

“…The UDE requires the control law and the dynamic model, and the disturbance is estimated by the filter, 45,46 which can be expressed as,

\overset{true^}{bold-italicd} = d * L^{- 1} (G_{f}) = (τ + Δ u - {bold-italicM}_{0} \ddot{bold-italicq}) * L^{- 1} (G_{f})

where

*

is the convolution operator,

L^{- 1} false(• false)

represent the inverse Laplace operation, and the filter

G_{f}

is given as,

G_{f} = 1 / false(1 + Ts false)

where T and s represent the time constant and the Laplace operator, respectively. According to (12) and (13), the expression of the disturbance estimation error can be derived as,

\dot{\overset{d}{true}} + \overset{true˜}{bold-italicd} / T = \dot{bold-italicd}

where

\overset{true˜}{bold-italicd} = d - \overset{true^}{bold-italicd}

is disturbance estimation error.…”

Section: The Controller Design and Stability Analysismentioning

confidence: 99%

See 1 more Smart Citation

Model free based finite time fault‐tolerant control of robot manipulators subject to disturbances and input saturation

Chen

Xuesong

Cheng

2022

Intl J Robust & Nonlinear

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This article proposed a model free based finite time fault-tolerant control (FTC) method of robot manipulators subject to unknown disturbances, input saturation, and actuator faults. First, an accuracy-driven integral terminal sliding mode surface (ADITSMS) was constructed, and the finite-time convergence and the parametric analysis were investigated. Second, based on the proposed ADITSMS, a double-loop control framework which consists of the position loop and velocity loop was proposed, and the finite time command filtered algorithm was utilized to estimate the derivative of the virtual control law of the position loop, thus a novel finite-time robust adaptive FTC was proposed. Third, to eliminate the negative effects of the faults and disturbances and implement model free control, the uncertainty and disturbance estimation is designed, and a novel adaptive algorithm is developed to suppress the estimation error whose upper bound or derivative was not required. Meanwhile, an auxiliary system is constructed to deal with the input saturation. The proposed controller possess the superiorities of model free nature and global finite time convergence property. Finally, numerical simulations and comparison studies were conducted to demonstrate the effectiveness of the proposed controller.

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“…The UDE requires the control law and the dynamic model, and the disturbance is estimated by the filter, 45,46 which can be expressed as,…”

Section: The Udementioning

confidence: 99%

“…The UDE requires the control law and the dynamic model, and the disturbance is estimated by the filter, 45,46 which can be expressed as,

\overset{true^}{bold-italicd} = d * L^{- 1} (G_{f}) = (τ + Δ u - {bold-italicM}_{0} \ddot{bold-italicq}) * L^{- 1} (G_{f})

where

*

is the convolution operator,

L^{- 1} false(• false)

represent the inverse Laplace operation, and the filter

G_{f}

is given as,

G_{f} = 1 / false(1 + Ts false)

where T and s represent the time constant and the Laplace operator, respectively. According to (12) and (13), the expression of the disturbance estimation error can be derived as,

\dot{\overset{d}{true}} + \overset{true˜}{bold-italicd} / T = \dot{bold-italicd}

where

\overset{true˜}{bold-italicd} = d - \overset{true^}{bold-italicd}

is disturbance estimation error.…”

Section: The Controller Design and Stability Analysismentioning

confidence: 99%

Model free based finite time fault‐tolerant control of robot manipulators subject to disturbances and input saturation

Chen

Xuesong

Cheng

2022

Intl J Robust & Nonlinear

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show abstract

“…The expression of the UDE is derived from the dynamic model and the control law, and then the disturbance is estimated by the filter [40,41], which can be expressed as…”

Section: 1mentioning

confidence: 99%

Adaptive super‐twisting algorithm‐based fractional‐order sliding mode control of redundantly actuated cable driving parallel robot with uncertainty and disturbance estimation

Chen

Wang

Cheng

2021

IET Control Theory & Appl

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This paper proposed an adaptive super‐twisting (AST)‐based fractional‐order sliding mode control algorithm under disturbances for redundantly actuated cable driving parallel robots. A novel fractional‐order non‐singular fast terminal sliding mode surface is constructed, and the fast response convergence and accuracy tracking performance can be obtained in the sliding mode phase; meanwhile, an auxiliary system is designed to overcome the adverse effects of the input saturation. Then, to compensate for the model uncertainty and external disturbances, the uncertainty and disturbance estimation is designed, and a novel AST algorithm is developed to suppress the estimation error without the known bound of the adaptive gains and guarantee the finite‐time convergence in the reaching phase. The Lyapunov stability theory is employed to prove the convergence of the proposed controller. Finally, numerical simulations are conducted in the commercial software of MATLAB/SIMULINK to demonstrate the effectiveness of the proposed controller.

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“…Mechanical loss reduction from friction has been treated as an interesting topic in several industrial applications, including rolling machines, conveyors and railway train systems [1–3]. The applications of electromagnetic force (called the magnetic levitation (MAGLEV)) have the capability to remove the bearing parts, which can result in a dramatic loss reduction and improved durability and reliability with a lowered noise level.…”

Section: Introductionmentioning

confidence: 99%

“…The bounded state transformation handled the state‐constrains, which made it possible to stabilise the MAGLEV system with the adaptive and robust scheme [1]. The uncertainty and disturbance estimator‐based full‐state feedback robust controller was suggested including the sufficient and necessary stabilisability conditions for open‐loop unstable system [2]. The recent non‐linear techniques were presented with the incorporation of active damping injection and an online‐self‐tuner into the full‐state feedback non‐linear controller, including DOBs, in the multi‐loop strategy [23, 24].…”

Section: Introductionmentioning

confidence: 99%

Sensorless non‐linear position‐stabilising control for magnetic levitation systems

Kim

Ahn

2020

IET Control Theory & Appl

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Stabilisability analysis and design of UDE‐based robust control

Cited by 11 publications

References 37 publications

Model free based finite time fault‐tolerant control of robot manipulators subject to disturbances and input saturation

Model free based finite time fault‐tolerant control of robot manipulators subject to disturbances and input saturation

Adaptive super‐twisting algorithm‐based fractional‐order sliding mode control of redundantly actuated cable driving parallel robot with uncertainty and disturbance estimation

Sensorless non‐linear position‐stabilising control for magnetic levitation systems

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