Synchronization control based on novel error for a hybrid mechanism

Measurement and Control

Zhong

2022

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Different coating technological requirements of automobile electro-coating control system have different desired trajectories. For a dual parallel robot used for automobile electro-coating conveying (DPRAEC), an intelligent tracking smooth sliding mode synchronization control method (ITSSMSC) is proposed to achieve better tracking control performance with high synchronization and flexibility for the system under different desired trajectories. According to the dual parallel and symmetrical structure of the robot, the sliding surface is designed based on a composite error. A deep neural network with multi-hidden layer is trained by deep learning algorithms. Then, any given trajectories caused by different coating technological requirements could be tracked without tuning additional parameters and the synchronous performance could be guaranteed. The convergence of the network training process and the stability of the ITSSMSC are proved theoretically. Compared with the synchronization proportion-derivative control, the sliding mode control based on constant velocity reaching law without synchronization control and the smooth sliding mode synchronization control without training, simulation and experimental results demonstrate the effectiveness of the proposed approach. Compared with synchronization proportion-derivative control, the maximum tracking errors of constant velocity reaching law without synchronization control among each active joint are, respectively, reduced 92.2%, 94.7%, 98.8%. The maximum tracking errors of smooth sliding mode synchronization control and ITSSMSC in [Formula: see text] direction are, respectively, 9.06×10−5m and 1.01×10−9m. The maximum tracking errors of smooth sliding mode synchronization control and ITSSMSC in [Formula: see text] angle are, respectively, 4.50×10−3rad and 1.45×10−4rad. Therefore, the proposed control method could improve the tracking control performance and synchronization performance simultaneously under different desired trajectories.

“…where l = diag(l 1 , l 2 ) is the coupling matrix between each joint. From the designed composite error (12), we design a sliding surface function as follows:…”

Section: Ssmscmentioning

confidence: 99%

Composite error-based intelligent smooth sliding mode control of a dual parallel robot for automobile electro-coating conveying

Measurement and Control

Zhong

2022

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“…In the second section, for the uncertain hybrid robot system, a global robust STW controller with adaptive switching gains is proposed and then the stability of the controller is proved theoretically. To validate the effectiveness and superiority of the proposed algorithm, the hybrid robot prototype for automobile electro-coating conveying 24 and comparative simulation based on the prototype are respectively covered in the third section and the fourth section. For further verification, the proposed STW controller is applied to the prototype for experiment in the fifth section.…”

Section: Introductionmentioning

confidence: 99%

Global robust super-twisting algorithm with adaptive switching gains for a hybrid robot

International Journal of Advanced Robotic Systems

Zhang

2020

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To improve the robustness performance of dynamic sliding mode control to the time-varying uncertainties without the upper bound information in a hybrid robot system, a global robust super-twisting algorithm with adaptive switching gains is proposed. The main contributions are as follows: (1) for the problem that the robustness of the sliding mode control system is not guaranteed in the reaching phase, a global robust sliding surface is designed to eliminate the reaching phase of the sliding mode control; (2) for the chattering problem existing in the sliding phase of the sliding mode control system due to the conservative selection of switching gains, based on a reconstructive super-twisting sliding mode control and the equivalent principle, a fast-adaptive law is designed to effectively reduce the chattering while the global robustness is ensured. The stability of the proposed algorithm is proved by Lyapunov stability theorem. The simulation and experiment on the hybrid robot prototype system are implemented to verify the effectiveness of the proposed control method.

“…e performance of the hybrid electrocoating conveying mechanism as the fundamental equipment of the coating process determines the quality and production efficiency of the electrocoating [1]. e hybrid conveying mechanism (HCM) not only removes the roof airbag completely but also has the advantages of wide applicability, flexibility, and strong loading capacity, etc.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance Observers

Wei

Journal of Control Science and Engineering

2020

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An adaptive backstepping sliding mode controller combined with a nonlinear disturbance observer is designed for trajectory tracking of the electrically driven hybrid conveying mechanism with mismatched disturbances. A nonlinear disturbance observer is constructed for estimation and compensation of the mismatched and matched disturbances. Then, a hybrid control scheme is designed by combining the adaptive backstepping sliding mode controller and the mentioned observer. The Lyapunov candidate functions are utilized to derive the control and adaptive law. According to the simulation and experimental results, superior tracking performance could be obtained through the presented control scheme compared with conventional backstepping sliding mode control. Meanwhile, the presented control scheme can effectively reduce the chattering problem and improve tracking precision.