Uncertainty and velocity observer-based predefined-time nonsingular terminal sliding mode control of the underwater robot manipulators

Zaare, Saeed; Soltanpour, Mohammad Reza

doi:10.1016/j.ejcon.2023.100939

European Journal of Control

2024

DOI: 10.1016/j.ejcon.2023.100939

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Uncertainty and velocity observer-based predefined-time nonsingular terminal sliding mode control of the underwater robot manipulators

Saeed Zaare,

Mohammad Reza Soltanpour

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Cited by 3 publications

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Nonlinear MIMO observable normal forms with output injection and output diffeomorphism

Liu,

Boutat,

Liu

et al. 2025

Applied Mathematics and Computation

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Nonlinear MIMO observable normal forms with output injection and output diffeomorphism

Liu,

Boutat,

Liu

et al. 2025

Applied Mathematics and Computation

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Online algebraic disturbance estimation method for linear systems with noisy state measurements

Wei,

Liu,

Hua

et al. 2025

Journal of the Franklin Institute

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Type-2 fuzzy adaptive robust fault-tolerant control for manipulators with disturbance observer

Fan,

Zhang,

2024

Transactions of the Institute of Measurement and Control

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A configuration of interval type-2 (IT2) fuzzy adaptive fault-tolerant control strategy is designed for the position trajectory tracking of cooperated robot manipulators carrying a common object. First, a non-zero time-varying parameter is installed in IT2 FLS, then a property of universal approximation of IT2 fuzzy logic system (FLS) is proposed, where the non-zero time-varying parameter has the relation with the approximation precision of IT2 FLS. Second, for the unknown compounded disturbance, a disturbance observer is designed to estimate it and is integrated into the IT2 adaptive control. To improve the approximation accuracies, the novel IT2 FLSs with non-zero parameter are utilized to compensate for the uncertain nonlinear terms with including the uncertainties and fault components in the system, the fault-tolerant control with some adaptive laws are established using the stability theory of barrier Lyapunov function (BLF), where the approximation accuracies can be modified online using the provided adaptive laws with neglecting the number of fuzzy rules, the computation burden of the proposed control is greatly reduced because of a small number of updated laws. Finally, the simulation results are compared with those of several existing control methods, which confirms the validity of the designed control approach.

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Uncertainty and velocity observer-based predefined-time nonsingular terminal sliding mode control of the underwater robot manipulators

Cited by 3 publications

References 50 publications

Nonlinear MIMO observable normal forms with output injection and output diffeomorphism

Nonlinear MIMO observable normal forms with output injection and output diffeomorphism

Online algebraic disturbance estimation method for linear systems with noisy state measurements

Type-2 fuzzy adaptive robust fault-tolerant control for manipulators with disturbance observer

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