Journal articles: 'Adaptive sliding mode tracking control'

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Espinoza-Fraire, Tadeo, Armando Saenz, Francisco Salas, Raymundo Juarez, and Wojciech Giernacki. "Trajectory Tracking with Adaptive Robust Control for Quadrotor." Applied Sciences 11, no. 18 (September 15, 2021): 8571. http://dx.doi.org/10.3390/app11188571.

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This work proposes three robust mechanisms based on the MIT rule and the sliding-mode techniques. These robust mechanisms have to tune the gains of an adaptive Proportional-Derivative controller to steer a quadrotor in a predefined trajectory. The adaptive structure is a model reference adaptive control (MRAC). The robust mechanisms proposed to achieve the control objective (trajectory tracking) are MIT rule, MIT rule with sliding mode (MIT-SM), MIT rule with twisting (MIT-Twisting), and MIT rule with high order sliding mode (MIT-HOSM).

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Fei, J., and C. Batur. "A class of adaptive sliding mode controller with proportional-integral sliding surface." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 223, no. 7 (July 6, 2009): 989–99. http://dx.doi.org/10.1243/09596518jsce712.

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This paper presents an adaptive sliding mode tracking controller with a proportional and integral switching surface. A novel adaptive sliding mode controller based on model reference adaptive state feedback control is proposed to deal with the tracking problem for a class of dynamic systems. First, a proportional and integral sliding surface instead of a conventional sliding surface is chosen and then a class of adaptive sliding mode controller with integral sliding term is developed. It is shown that the stability of the closed-loop system can be guaranteed with the proposed adaptive sliding mode control strategy. The numerical simulation of a triaxial gyroscope is investigated to show the effectiveness of the proposed adaptive sliding mode control scheme with proportional plus integral sliding mode action.

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Wei, Yangchun, Haoping Wang, and Yang Tian. "Adaptive sliding mode observer–based integral sliding mode model-free torque control for elastomer series elastic actuator–based manipulator." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 236, no. 5 (December 28, 2021): 1010–28. http://dx.doi.org/10.1177/09596518211064757.

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In this brief, an adaptive nonsingular terminal sliding mode observer–based adaptive integral terminal sliding mode model-free control is proposed for the trajectory tracking control of the output torque of elastomer series elastic actuator–based manipulator. Considering the tip load and its external disturbance, an elastomer series elastic actuator–based manipulator model is established. In order to realize the output torque tracking control of elastomer series elastic actuator–based manipulator, by using the characteristics of elastomer series elastic actuator, the output torque control is transformed into position control. Based on the idea of model-free control, an ultra-local model is applied to approximate the dynamic of the manipulator, and all the model information is considered as an unknown lumped disturbance. The adaptive nonsingular terminal sliding mode observer is designed to estimate the lumped disturbance, and the absolute value of the tracking error is introduced into the sliding surface to make the selection of parameters more flexible. Then, on the basis of adaptive nonsingular terminal sliding mode observer, the adaptive integral terminal sliding mode model-free control is proposed under model-free control framework. The design and analysis of both observer and controller do not rely on accurate model information. Finally, the performance of the proposed method is verified by simulation results.

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Cho, Moon Gyeang, Useok Jung, Jun-Young An, Yoo-Seung Choi, and Chang-Joo Kim. "Adaptive Trajectory Tracking Control for Rotorcraft Using Incremental Backstepping Sliding Mode Control Strategy." International Journal of Aerospace Engineering 2021 (July 14, 2021): 1–15. http://dx.doi.org/10.1155/2021/4945642.

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This paper investigates the adaptive incremental backstepping sliding mode control for the rotorcraft trajectory-tracking control problem to enhance the robustness to the matched uncertainty in the model. First, the incremental dynamics is used for the control design to exclude the adverse effect of the mismatched model uncertainties on the trajectory-tracking performance. Secondly, the sliding-mode control strategy is adopted in the second design stage of the backstepping controller, and the effect of switching gains on the controller robustness is thoroughly studied using the rotorcraft model with different levels of the matched uncertainties. To clarify the robustness enhancement using the adaptive selection of switching gains, this paper chooses three different control structures consisting of the traditional backstepping control and two backstepping sliding mode controls with the fixed or adaptively adjusted switching gains. These control designs are applied to the trajectory-tracking control for the helical-turn maneuver of the Bo-105 helicopter to compare their relative robustness to the matched uncertainties. The results prove that adaptive incremental backstepping sliding mode control shows much higher robustness than other two designs, and the controller even with the fixed switching gains can be used to improve the robustness of the pure backstepping control design. Therefore, the present adaptive incremental backstepping sliding mode control is effectively applicable with the rotorcraft model which typically contains many different sources of both matched and mismatched uncertainties.

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Yan, Gangfeng. "Design of adaptive sliding mode controller applied to ultrasonic motor." Assembly Automation 42, no. 1 (November 23, 2021): 147–54. http://dx.doi.org/10.1108/aa-04-2021-0048.

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Purpose The purpose of this paper is to achieve high-precision sliding mode control without chattering; the control parameters are easy to adjust, and the entire controller is easy to use in engineering practice. Design/methodology/approach Using double sliding mode surfaces, the gain of the control signal can be adjusted adaptively according to the error signal. A kind of sliding mode controller without chattering is designed and applied to the control of ultrasonic motors. Findings The results show that for a position signal with a tracking amplitude of 35 mm, the traditional sliding mode control method has a maximum tracking error of 0.3326 mm under the premise of small chattering; the boundary layer sliding mode control method has a maximum tracking error of 0.3927 mm without chattering, and the maximum tracking error of continuous switching adaptive sliding mode control is 0.1589 mm, and there is no chattering. Under the same control parameters, after adding a load of 0.5 kg, the maximum tracking errors of the traditional sliding mode control method, the boundary layer sliding mode control method and the continuous switching adaptive sliding mode control are 0.4292 mm, 0.5111 mm and 0.1848 mm, respectively. Originality/value The proposed method not only switches continuously, but also the amplitude of the switching signal is adaptive, while maintaining the robustness of the conventional sliding mode control method, which has strong engineering application value.

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Fei, Juntao, Shenglei Zhang, and Jian Zhou. "Adaptive Sliding Mode Control of Single-Phase Shunt Active Power Filter." Mathematical Problems in Engineering 2012 (2012): 1–22. http://dx.doi.org/10.1155/2012/809187.

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This paper presents a thorough study of the adaptive sliding mode technique with application to single-phase shunt active power filter (APF). Based on the basic principle of single-phase shunt APF, the approximate dynamic model is derived. A model reference adaptive sliding mode control algorithm is proposed to implement the harmonic compensation for the single-phase shunt APF. This method will use the tracking error of harmonic and APF current as the control input and adopt the tracking error of reference model and APF output as the control objects of adaptive sliding mode. In the reference current track loop, a novel adaptive sliding mode controller is implemented to tracking the reference currents, thus improving harmonic treating performance. Simulation results demonstrate the satisfactory control performance and rapid compensation ability of the proposed control approach under different conditions of the nonlinear load current distortion and the mutation load, respectively.

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Yan, Weifeng, and Juntao Fei. "Adaptive Control of MEMS Gyroscope Based on Global Terminal Sliding Mode Controller." Mathematical Problems in Engineering 2013 (2013): 1–9. http://dx.doi.org/10.1155/2013/797626.

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An adaptive global fast terminal sliding mode control (GFTSM) is proposed for tracking control of Micro-Electro-Mechanical Systems (MEMS) vibratory gyroscopes under unknown model uncertainties and external disturbances. To improve the convergence rate of reaching the sliding surface, a global fast terminal sliding surface is employed which can integrate the advantages of traditional sliding mode control and terminal sliding mode control. It can be guaranteed that sliding surface and equilibrium point can be reached in a shorter finite time from any initial state. In the presence of unknown upper bound of system nonlinearities, an adaptive global fast terminal sliding mode controller is derived to estimate this unknown upper bound. Simulation results demonstrate that the tracking error can be attenuated efficiently and robustness of the control system can be improved with the proposed adaptive global fast terminal sliding mode control.

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QI, Zhaohui, Jin ZHANG, Yuanzhuo WANG, Jia WANG, Mengrong XU, and Cheng ZHANG. "Trajectory tracking control method based on adaptive super-twisting sliding mode." Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University 40, no. 5 (October 2022): 1109–15. http://dx.doi.org/10.1051/jnwpu/20224051109.

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Aiming at the problem of trajectory tracking control in the process of missile network formation flying, based on the optimal nominal trajectory obtained by solving the two-point boundary value problem, combined with the anti-jamming characteristics of the sliding mode controller, a trajectory tracking control method based on the adaptive super-twisting sliding mode is proposed. First, on the basis of the terminal guidance section model, the two-point boundary value problem is solved through the idea of nonlinear programming to obtain the optimal nominal trajectory; Secondly, the tracking controller based on state deviation is designed in combination with the adaptive super-twisting sliding mode algorithm; Finally, the LQR trajectory tracking control method is introduced as a comparison method, and the effectiveness and feasibility of the sliding mode trajectory tracking method in the presence of initial state errors are verified by simulations, and the Monte Carlo simulation shows that the proposed method has good trajectory tracking control effect in the presence of different initial state errors.

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KOJIMA, Hirohisa, and Takuyuki MUKAI. "Attitude Tracking Maneuver Using Adaptive Sliding Mode Control." Transactions of the Japan Society of Mechanical Engineers Series C 68, no. 668 (2002): 1113–18. http://dx.doi.org/10.1299/kikaic.68.1113.

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Xiao, Hongliang, Huacong Li, Jia Li, Jiangfeng Fu, and Kai Peng. "Research on Variable Cycle Engine Control Based on Model Reference Adaptive Sliding Mode Control Method." Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University 36, no. 5 (October 2018): 824–30. http://dx.doi.org/10.1051/jnwpu/20183650824.

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As to solve the problem of multivariable output tracking control of variable cycle engine under system uncertainties and external disturbances, an augmented model reference adaptive sliding mode control method based on LQR method was developed. Firstly, the model is augmented and the reference state is provided to the controller by designing the reference model using the optimal LQR method. Then, based on the state tracking sliding mode control method, the adaptive law is derived based on the strict stability condition of Lyapunov function to estimate the upper bound of the system perturbation matrix and the upper bound of the external disturbances. Finally, the controller achieves the asymptotic zero tracking error of the system under the conditions of uncertainty and external disturbance. The simulation results showed that the LQR-based augmented model reference adaptive sliding mode control method can solve the problem that the traditional sliding mode control method needs to specify the reference state in advance and improve the control performance of the variable cycle engine control with system uncertainties and external disturbance. The tracking of the control command is effectively achieved and the steady-state and dynamic performance are improved. The steady-state control errors under different conditions are less than 0.1%, the system overshoot is less than 0.5%, and the adjustment time is less than 1s, which conformed to the requirements of the aero engine control system technology.

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Pukdeboon, Chutiphon. "Adaptive-Gain Second-Order Sliding Mode Control of Attitude Tracking of Flexible Spacecraft." Mathematical Problems in Engineering 2014 (2014): 1–11. http://dx.doi.org/10.1155/2014/312494.

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This paper investigates the robust finite-time control problem for flexible spacecraft attitude tracking maneuver in the presence of model uncertainties and external disturbances. Two robust attitude tracking controllers based on finite-time second-order sliding mode control algorithms are presented to solve this problem. For the first controller, a novel second-order sliding mode control scheme is developed to achieve high-precision tracking performance. For the second control law, an adaptive-gain second-order sliding mode control algorithm combing an adaptive law with second-order sliding mode control strategy is designed to relax the requirement of prior knowledge of the bound of the system uncertainties. The rigorous proofs show that the proposed controllers provide finite-time convergence of the attitude and angular velocity tracking errors. Numerical simulations on attitude tracking control are presented to demonstrate the performance of the developed controllers.

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Fang, Yunmei, Juntao Fei, and Tongyue Hu. "Adaptive backstepping fuzzy sliding mode vibration control of flexible structure." Journal of Low Frequency Noise, Vibration and Active Control 37, no. 4 (March 27, 2018): 1079–96. http://dx.doi.org/10.1177/1461348418767097.

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An adaptive backstepping fuzzy sliding mode control is proposed to approximate the unknown system dynamics for a cantilever beam in this paper. The adaptive backstepping fuzzy sliding mode control is developed by combining the backstepping method with adaptive fuzzy strategy, where backstepping design approach is used to drive the trajectory tracking errors to converge to zero rapidly with global asymptotic stability and fuzzy logic system is designed to approximate the unknown nonlinear function in the adaptive backstepping fuzzy sliding mode control. The proposed backstepping controllers can ensure proper tracking of the reference trajectory, and impose a desired dynamic behavior, giving robustness and insensitivity to parameter variations. Numerical simulation for cantilever beam is investigated to verify the effectiveness of the proposed adaptive backstepping fuzzy sliding mode control scheme and demonstrate the satisfactory vibration suppression performance.

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Long, Yi, and Xiao Jun Yang. "Robust Adaptive Sliding Mode Synchronous Control for a Planar Redundantly Actuated Parallel Manipulator." Advanced Materials Research 605-607 (December 2012): 1583–88. http://dx.doi.org/10.4028/www.scientific.net/amr.605-607.1583.

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To obtain better trajectory tracking, a new synchronous control with sliding mode surface is proposed. Based on Kane equation, the dynamics model of a planar 2-DOF redundantly actuated parallel mechanism was formulated. With trajectory contour error, the synchronization error was defined and the sliding surface was determined. After dynamic equation linearization, a robust adaptive sliding mode synchronous controller was designed with stability analysis. After Matlab simulation, figures of tracking errors and synchronization errors changing with time compared with computed torque method were plotted. Results show that the robust adaptive sliding mode synchronous control can be able to achieve good trajectory tracking compared with computed torque controller.

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Yang, Rong Jun, and Yun Guo Shi. "Three-Dimensional Trajectory Control via Nonlinear Adaptive Approach." Applied Mechanics and Materials 635-637 (September 2014): 1285–89. http://dx.doi.org/10.4028/www.scientific.net/amm.635-637.1285.

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A representation of robust nonlinear controller is proposed for ammunitions space trajectory control, which is combined adaptive dynamic inverse with sliding mode control. The control law design accomplishes 3-D trajectory tracking using attitude angle as control input, and includes the parameter update to correct force model errors, also sliding mode switch portion to resist winds. A transition reference trajectory which is easy to implement for tracking is designed, according to the actual location and speed of start control point. Simulation results show the proposed control strategy get accurate tracking performance of excellent dynamic characteristics in large uncertainties.

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Nadda, Sudhir, and A. Swarup. "On adaptive sliding mode control for improved quadrotor tracking." Journal of Vibration and Control 24, no. 14 (April 7, 2017): 3219–30. http://dx.doi.org/10.1177/1077546317703541.

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The tracking control of a quadrotor has been considered in this paper. The application of sliding mode control provides robustness against parametric uncertainties, but it requires knowledge of the upper bounds of uncertainties. An adaptation strategy has been proposed to implement sliding mode control, which does not require the upper bound of the uncertainties. The adaptive control law is derived on the basis of Lyapunov stability theory, which guarantees the tracking performance. The adaptation can be tuned faster by proper tuning, and convergence with good tracking can be achieved. The proposed adaptive method has improved robustness and provided simpler implementation. Through an illustrative simulation example, the performance of the proposed control method is presented and also compared with classical sliding mode control from the literature. It is demonstrated that the performance of quadrotor altitude tracking and convergence has been considerably improved while maintaining stability, even in presence of external disturbances and parameter uncertainties.

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Pathak, Monisha, and Dr Mrinal Buragohain. "Adaptive Sliding Mode Controller for Robotic Manipulator Tracking Control with Fuzzy Design." International Journal of Engineering and Advanced Technology 11, no. 6 (August 30, 2022): 164–67. http://dx.doi.org/10.35940/ijeat.f3755.0811622.

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This paper introduces an adaptive sliding mode controller design based on fuzzy compensation for efficient robotic manipulator tracking control. This work introduces design of Adaptive Fuzzy Controller based on sliding control principles for Robotic Manipulators. In the work, an adaptive fuzzy sliding mode control algorithm is proposed for tracking control of robot manipulators. The fuzzy system uses a set of fuzzy rules, the parameters of which are modified in real-time by adaptive laws, to approximate unknown nonlinearities. This makes it easier to direct the nonlinear system's output to follow a specific trajectory. An adaptive control algorithm based on the adaptive fuzzy model is created using the Lyapunov approach. Both the chattering and the stable performance are assured.

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Hang, Gao. "Fuzzy Adaptive Sliding Mode Control of Sandblasting and Rust Removal Parallel Robot." Applied Science and Innovative Research 5, no. 2 (March 31, 2021): p9. http://dx.doi.org/10.22158/asir.v5n2p9.

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In order to overcome the trajectory tracking distortion caused by the friction mutations of the sandblasting and rust removal parallel robot based on the Stewart parallel mechanism, a fuzzy adaptive sliding mode control method that compensates for the friction mutations is designed. Firstly, the kinematics of the mechanism is analyzed by analytic method and the dynamic model of the Stewart parallel mechanism is established based on Lagrange method. Then, the robust adaptive term of the sliding mode is designed based on the sliding mode variable to estimate the uncertain term in real time, replacing the sliding Switching items of mode control to compensate for the influence of uncertain factors such as unmodeled dynamics, external disturbances and time-varying parameters, and to effectively suppress chattering of sliding mode control; Next, by designing fuzzy control based on sliding mode variable and sliding mode variable derivative, the dynamic adjustment of the sliding mode robust adaptive term gain is realized to compensate for the interference of the frictional force mutation, thereby eliminating the trajectory tracking distortion problem of the Stewart mechanism joint commutation. Finally, using MATLAB control method for numerical simulation and verify the effectiveness of the proposed fuzzy adaptive sliding mode control method to compensate for friction mutations.

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Asadi, D., and SA Bagherzadeh. "Nonlinear adaptive sliding mode tracking control of an airplane with wing damage." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 232, no. 8 (February 2, 2017): 1405–20. http://dx.doi.org/10.1177/0954410017690546.

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This paper investigates a dual-timescale autopilot for a wing-damaged airplane applying nonlinear adaptive sliding mode approach. The adaptive flight control strategy is used to track outer-loop angle commands while accommodating wing damage effect. Two distinct adaptive sliding mode control strategies are designed for the inner- and outer-loop dynamics. The airplane nonlinear model is developed considering center of gravity shift and aerodynamic changes due to the asymmetric wing damage. The performance of the proposed nonlinear adaptive sliding mode controller is evaluated through numerical simulation on NASA generic transport model and is compared with two adaptive algorithms: model reference adaptive control and a robust adaptive control strategy. The results demonstrate that the proposed control law achieves closed-loop stability in the presence of wing damage and accelerometers bias, and also provides satisfactory tracking performance.

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He, Jingang, Yuanjie Meng, Jun You, Jin Zhang, Yuanzhuo Wang, and Cheng Zhang. "Trajectory Tracking Control Method Based on Adaptive Higher Order Sliding Mode." Applied Sciences 12, no. 16 (August 9, 2022): 7955. http://dx.doi.org/10.3390/app12167955.

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To resolve the problem of high-precision trajectory tracking control under interference conditions in a missile’s mid-guidance phase, according to the constructed nominal trajectory, an improved adaptive high-order sliding mode trajectory tracking controller (AHSTC) is proposed. In this method, the open-loop nominal trajectories are established according to the nonlinear programming and Gaussian pseudospectra method. A high-precision trajectory tracking controller is developed by designing a nonlinear sliding mode surface and an adaptive high-order sliding mode approaching law combined with the trajectory tracking nonlinear error model. To verify the effectiveness and superiority of the proposed method, analysis and simulation are carried out through the example of a missile mid-guidance phase tracking control. Compared to the linear quadratic regulator (LQR) and active disturbance rejection controller (ADRC) method, the simulation results show that the proposed AHSTC method shows faster convergence and improved tracking effect. Therefore, the proposed AHSTC method has a good results and engineering application value.

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Du, Heng, Lin Wang, Jinda Chen, Hui Huang, and Yunchao Wang. "Adaptive fuzzy radial basis function neural network integral sliding mode tracking control for heavy vehicle electro-hydraulic power steering systems." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 234, no. 2-3 (May 6, 2019): 872–86. http://dx.doi.org/10.1177/0954407019846378.

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Due to parametric uncertainties, unknown nonlinearities, and dynamic external disturbances, it is a challenging and valuable task for heavy vehicle electro-hydraulic power steering systems to realize high-precision tracking control. To cope with this complex nonlinear tracking control problem, the integral sliding mode control is an extremely potential control method, which has strong robustness to model uncertainties and unknown disturbances, and can effectively reduce the steady-state error in tracking control process. However, the inherent chattering phenomenon of integral sliding mode control seriously affects its control performance. In order to suppress the chattering while ensuring robustness, adaptive fuzzy technique is adopted as an effective auxiliary means, which can not only deal with the inherent chattering problem of integral sliding mode control and a priori knowledge of the disturbance upper bound in controller design but also dynamically adjust the parameters in the fuzzy rules. Moreover, the designed adaptive fuzzy–integral sliding mode control scheme still needs the precise mathematical models of the control systems. But it is difficult to obtain the model for heavy vehicle electro-hydraulic power steering systems with highly complex and coupling properties. Therefore, to further improve the method, this paper presents a novel adaptive fuzzy–radial basis function neural network–integral sliding mode control method for the complex systems to achieve timely and accurate steering angle tracking control. In addition to the advantages of adaptive fuzzy–integral sliding mode control, the modified controller no longer requires the precise mathematical models of heavy vehicle electro-hydraulic power steering systems and realizes the continuous adaptive updating of weights. Finally, the effectiveness and superiority of the proposed control scheme is illustrated by comparisons and extensive simulations.

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Shi, Nannan, Fanghui Luo, Zhikuan Kang, Lihui Wang, Zhuo Zhao, Qiang Meng, and Weiqin Hou. "Fault-Tolerant Control for N-Link Robot Manipulator via Adaptive Nonsingular Terminal Sliding Mode Control Technology." Mathematical Problems in Engineering 2021 (July 6, 2021): 1–10. http://dx.doi.org/10.1155/2021/8883752.

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An adaptive nonsingular terminal sliding mode control (ANTSMC) scheme for the n-link robot manipulator is presented in this study, which can achieve faster convergence and higher precision tracking compared with the linear hyperplane-based sliding mode control. Novel adaptive updating laws based on the actual tracking error are employed to online adjust the upper bound of uncertainty, which comprehensively consider both the tracking performance and chattering eliminating problem. The stability analysis of the proposed ANTSMC is verified using the Lyapunov method with the existence of the parameter uncertainty and the actuator faults. Numerical simulation studies the comparison of performance between ANTSMC and the conventional nonsingular terminal sliding mode control (NTSMC) scheme to validate the advantages of the proposed control algorithm.

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Chu, Yundi, and Juntao Fei. "Adaptive Global Sliding Mode Control for MEMS Gyroscope Using RBF Neural Network." Mathematical Problems in Engineering 2015 (2015): 1–9. http://dx.doi.org/10.1155/2015/403180.

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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.

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Wang, Lei, Yu Shan Zhao, and Peng Shi. "Spacecraft Adaptive Sliding Mode Attitude Tracking Control Using DGCMG." Applied Mechanics and Materials 110-116 (October 2011): 5283–91. http://dx.doi.org/10.4028/www.scientific.net/amm.110-116.5283.

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This investigation is concerned with the non-linear multi-in-multi-out tracking control of a spacecraft with Double-gimbaled control moment gyros as actuators. An attitude dynamic model of rigid spacecraft with DGCMG and a kinematics model in terms of Modified Rodriguez parameters are given for the controller development. Then the control objective and system uncertainties in tracking problem are analyzed considering the major elements which work on the control performance such as moment of inertia change, wheel speed drift and external torque. A adaptive sliding mode controller is designed and is proved stable later in which the sliding mode control are used to compensate external torque and un-modeled dynamics while the adaptive parameters are used to estimate inertia and wheel speed on line. And a steering law of parallel mounted DGCMG is illuminated. Finally Monte Carlo simulation is carried out to prove the effectiveness of the controller.

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Wang, Jue, Fei Li, Ye Huang, Jian Hao Wang, and Hong Lin Zhang. "Research on Adaptive Backstepping Global Sliding Control for CPS." Advanced Materials Research 846-847 (November 2013): 134–38. http://dx.doi.org/10.4028/www.scientific.net/amr.846-847.134.

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The paper studies the problem of tracking control for flight simulator servo systems, one typical CPS, with parameter uncertainties and nonlinear friction compensation. Methods of adaptive global sliding mode control and backstepping control are respectively proposed to realize the control of virtual rotational speed and position tracking. Adaptive backstepping global sliding mode control strategy for flight simulator servo systems is proposed and its stability is analyzed. Simulation results show the effectiveness of the proposed method, which could achieve the precision position tracking performance and eliminate the chattering.

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Vo, Anh Tuan, Ngoc Hoai An Nguyen, and Duy Duong Pham. "INTEGRAL SLIDING MODE CONTROL FOR TRAJECTORY TRACKING CONTROL OF ROBOTIC MANIPULATORS USING AN ADAPTIVE TWISTING ALGORITHM." Journal of Science and Technology: Issue on Information and Communications Technology 17, no. 12.2 (December 9, 2019): 42. http://dx.doi.org/10.31130/ict-ud.2019.88.

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This paper proposes an integral sliding mode for trajectory tracking control of robotic manipulators. Our proposed control method is developed on the foundation of the benefits in both integral sliding mode control and adaptive twisting control algorithm, such as high robustness, high accuracy, estimation ability, and chattering elimination. In this paper, the proposed integral sliding mode controller is designed with the elimination of the reaching phase to offer better trajectory tracking precision and to stabilize the robot system. To reduce the calculation burden along with chattering rejection, an adaptive twisting controller with only one simple adaptive rule is employed to estimate the upper-boundary values of the lumped uncertainties. Accordingly, the requirement of their prior knowledge is removed and then decrease the computation complexity. Consequently, this control method provides better trajectory tracking accuracy to handle the dynamic uncertainties and external disturbances more strongly. The system global stability of the control system is guaranteed by using Lyapunov criteria. Finally, simulated examples are performed to analyze the effectiveness of our control approach for position pathway tracking control of a 2-DOF parallel manipulator.

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Pathak*, Monisha, and Dr Mrinal Buragohain. "Sliding Mode with Adaptive Control of Robot Manipulator Trajectory Tracking using Neural Network Approximation." International Journal of Engineering and Advanced Technology 10, no. 6 (August 30, 2021): 120. http://dx.doi.org/10.35940/ijeat.f3005.0810621.

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This paper briefly discusses about the Robust Controller based on Adaptive Sliding Mode Technique with RBF Neural Network (ASMCNN) for Robotic Manipulator tracking control in presence of uncertainities and disturbances. The aim is to design an effective trajectory tracking controller without any modelling information. The ASMCNN is designed to have robust trajectory tracking of Robot Manipulator, which combines Neural Network Estimation with Adaptive Sliding Mode Control. The RBF model is utilised to construct a Lyapunov function-based adaptive control approach. Simulation of the tracking control of a 2dof Robotic Manipulator in the presence of unpredictability and external disruption demonstrates the usefulness of the planned ASMCNN.

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Baek, Jaemin, and Wookyong Kwon. "Practical Adaptive Sliding-Mode Control Approach for Precise Tracking of Robot Manipulators." Applied Sciences 10, no. 8 (April 23, 2020): 2909. http://dx.doi.org/10.3390/app10082909.

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We present a practical adaptive sliding-mode control approach, namely, the strong and stable adaptive sliding-mode control (SS-ASMC), in this paper. There is a significant effort towards addressing the technical challenges associated with the switching gains with two adaptive laws, which are called parent and child adaptive laws. A parent adaptive law helps achieve strong switching gains through fast adaptation rate when sliding variable moves away from the sliding manifold. A child adaptive law updates the parameter of the parent adaptive law, which helps to achieve the switching gains with fast and stable adaptation rate in the vicinity of the sliding manifold. Such switching gains with two adaptive laws provide remarkably precise tracking performance while enhancing the robustness. Besides, to yield desirable closed-loop poles and simplicity of control approach structure, the proposed SS-ASMC approach employs a combination of time-delayed estimation and pole-placement method, which makes it unnecessary to have a rather complete system dynamics. It is shown by the bounded-input-bounded-output stability through the Lyapunov approach, and thus the tracking errors are also proved to be uniformly ultimately bounded. The effectiveness of the proposed SS-ASMC approach is illustrated in simulations with robot manipulators, which is compared with that of the existing control approaches.

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Liang, Yufei, Dong Zhang, Guodong Li, and Tao Wu. "Adaptive Chattering-Free PID Sliding Mode Control for Tracking Problem of Uncertain Dynamical Systems." Electronics 11, no. 21 (October 28, 2022): 3499. http://dx.doi.org/10.3390/electronics11213499.

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Aiming at the trajectory tracking problem with unknown uncertainties, a novel controller composed of proportional-integral-differential sliding mode surface (PIDSM) and variable gain hyperbolic reaching law is proposed. A PID-type sliding mode surface with an inverse hyperbolic integral terminal sliding mode term is proposed, which has the advantages of global convergence of integral sliding mode (ISM) and finite time convergence of terminal sliding mode (TSM), and the control effect is significantly improved. Then, a variable gain hyperbolic approach law is proposed to solve the sliding mode approaching velocity problem. The variable gain term can guarantee different approaching velocities at different distances from the sliding mode surface, and the chattering problem is eliminated by using a hyperbolic function instead of the switching function. The redesign of the sliding mode surface and the reaching law ensures the robustness and tracking accuracy of the uncertain system. Adaptive estimation can compensate for uncertain disturbance terms in nonlinear systems, and the combination with sliding mode control further improves the tracking accuracy and robustness of the system. Finally, the Lyapunov stability principle is used for stability analysis, and the simulation study verifies that the proposed control scheme has the advantages of fast response, strong robustness, and high tracking accuracy.

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Ayten, Kağan Koray, Muhammet Hüseyin Çiplak, and Ahmet Dumlu. "Implementation a fractional-order adaptive model-based PID-type sliding mode speed control for wheeled mobile robot." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 233, no. 8 (May 19, 2019): 1067–84. http://dx.doi.org/10.1177/0959651819847395.

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This article presents the speed and direction angle control of a wheeled mobile robot based on a fractional-order adaptive model-based PID-type sliding mode control technique. Taking into account the individual benefits of the fractional calculus and the adaptive model-based PID-type sliding mode control method, the fractional order and the adaptive model-based PID-type sliding mode control technique are combined and proposed as an effective controller for the first time in the literature for real-time control of the wheeled mobile robot under the external payload. In this proposed method, several critical issues are considered; first, a kinematic and dynamic model of the wheeled mobile robot is analysed considering the system’s uncertainties. Second, fractional-order calculus and the model-based PID-type sliding mode control is composed to realize the chattering-free control, accurate trajectory tracking response, finite time convergence and robustness for the wheeled mobile robot. Finally, an adaptive process is also employed to meet and overcome the unknown dynamics and uncertain parameters of the system, regardless of the previous information of the uncertainties. The experimental outcomes demonstrate that the proposed controller (fractional-order adaptive model-based PID-type sliding mode controller) delivers an accurate trajectory tracking performance, faster finite-time convergence as well as having a smaller speed error under the external payload when the adaptive model-based PID-type sliding mode control is compared.

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Yuan, Wei, Guoqin Gao, and Jianzhen Li. "Adaptive Backstepping Sliding Mode Control of the Hybrid Conveying Mechanism with Mismatched Disturbances via Nonlinear Disturbance Observers." Journal of Control Science and Engineering 2020 (August 25, 2020): 1–13. http://dx.doi.org/10.1155/2020/7376503.

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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.

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31

Fei, Juntao, Hongfei Ding, Shixi Hou, Shitao Wang, and Mingyuan Xin. "Robust Adaptive Neural Sliding Mode Approach for Tracking Control of a MEMS Triaxial Gyroscope." International Journal of Advanced Robotic Systems 9, no. 1 (January 1, 2012): 20. http://dx.doi.org/10.5772/50915.

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In this paper, a neural network adaptive sliding mode control is proposed for an MEMS triaxial gyroscope with unknown system nonlinearities. An input-output linearization technique is incorporated into the neural adaptive tracking control to cancel the nonlinearities, and the neural network whose parameters are updated from the Lyapunov approach is used to perform the linearization control law. The sliding mode control is utilized to compensate the neural network's approximation errors. The stability of the closed-loop system can be guaranteed with the proposed adaptive neural sliding mode control. Numerical simulations are investigated to verify the effectiveness of the proposed adaptive neural sliding mode control scheme.

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32

Sun, Chunxiang, Guanjun Li, and Jin Xu. "Adaptive neural network terminal sliding mode control for uncertain spatial robot." International Journal of Advanced Robotic Systems 16, no. 6 (November 1, 2019): 172988141989406. http://dx.doi.org/10.1177/1729881419894065.

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The tracking control problem for uncertain spatial robot is investigated by means of adaptive terminal sliding mode control in this article. To approximate unknown nonlinear functions of these systems, a neural network model is employed. By using Lyapunov stability theory, adaptive terminal sliding mode controller is given, which guarantees that the tracking error converges to an arbitrary small region of zero and all the signals remain bounded. Finally, numerical simulation is given to confirm the effectiveness of the proposed method.

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33

Topalov, Andon V., Okyay Kaynak, and Gokhan Aydin. "Neuro-adaptive sliding-mode tracking control of robot manipulators." International Journal of Adaptive Control and Signal Processing 21, no. 8-9 (2007): 674–91. http://dx.doi.org/10.1002/acs.982.

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34

Dumlu, Ahmet. "Design of a fractional-order adaptive integral sliding mode controller for the trajectory tracking control of robot manipulators." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 232, no. 9 (June 3, 2018): 1212–29. http://dx.doi.org/10.1177/0959651818778218.

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In this study, trajectory tracking control of six–degrees of freedom robotic manipulator has been performed using the proposed fractional-order adaptive integral sliding mode control scheme. The proposed method is first composed by fractional-order and adaptive integral sliding mode control to achieve the finite-time convergence, chattering-free control inputs, better tracking performance and robustness for the robotic manipulator. Furthermore, an adaptive method has been utilized to evaluate and compensate the uncertain and unknown dynamics of the system without relying on the prior knowledge of the upper bounds. To illustrate the efficiency of the proposed fractional-order adaptive integral sliding mode control method, the real-time experimental studies have been performed for the six–degrees of freedom industrial robot manipulator. The experimental outcomes strongly verified that the proposed controller gives quite well trajectory tracking response and faster convergence compared with the classical integral sliding mode control under the external payload.

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Jiao, Xin, Baris Fidan, Ju Jiang, and Mohamed Kamel. "Type-2 fuzzy adaptive sliding mode control of hypersonic flight." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 233, no. 8 (July 12, 2017): 2731–44. http://dx.doi.org/10.1177/0954410017712329.

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This paper proposes a type-2 fuzzy adaptive sliding mode control scheme for tracking control of hypersonic aircraft with uncertainties. This method uses full-state feedback to linearize the nonlinear model of hypersonic aircraft. Combining the interval type-2 fuzzy approach and adaptive sliding mode control keeps the system stable in the existence of uncertain parameters. For rapid stabilization of the system, the adaptive laws are designed using a direct constructive Lyapunov analysis together with a well-established type-2 fuzzy logic control. Simulation test results indicate that the proposed control scheme provides enhancement of robustness to parametric uncertainty and improvement in tracking performance of the hypersonic aircraft.

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36

Zhao, Yi Bo, Xiu Zai Zhang, and Xin Yu Sun. "Adaptive Sliding Mode Output Synchronization Tracking for Hyper-Chaotic Lü System Based on Adaptive PWL Filters." Applied Mechanics and Materials 644-650 (September 2014): 3610–15. http://dx.doi.org/10.4028/www.scientific.net/amm.644-650.3610.

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In this work, an adaptive sliding mode control method is presented to achieve output synchronization tracking for the uncertain hyper-chaotic Lü system. An adaptive piecewise linear (PWL) filter is used to identify the uncertain hyper-chaotic system. Base on the identification results, an adaptive sliding mode controller is designed to obtain output synchronization tracking for the hyper-chaotic Lü system. The convergence condition of the adaptive PWL filter is derived based on the Lyapunov theorem. Simulation is done to verify the effectiveness and correction of the proposed identification and synchronization tracking control method.

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Li, Ke Yu, Fu Qing Tian, and Jue Wang. "Adaptive Backstepping Sliding Mode Control of Electro-Optical Tracking Servo Turntable." Advanced Materials Research 945-949 (June 2014): 1597–600. http://dx.doi.org/10.4028/www.scientific.net/amr.945-949.1597.

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The torque ripple of torque motor has serious influence over control accuracy of electro-optical tracking servo turntable. In response to this defect, an adaptive backstepping sliding mode control algorithm was proposed. Firstly, the mechanism of torque ripple was analyzed, and the math model of which was set up. Then, based on the model of whole servo system, the sliding mode control and backstepping algorithm were combined to design adaptive backstepping sliding mode (ABSM) controller. Finally, a simulation experiment was finished to with compare control performance of ABSM controller and PID controller. The simulation results show that, compared with the control accuracy of the PID controller, ABSM controller enhances the robustness of system, and approves control accuracy of servo turntable evidently.

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Li, Jinyang, Zhijian Shang, Runfeng Li, and Bingbo Cui. "Adaptive Sliding Mode Path Tracking Control of Unmanned Rice Transplanter." Agriculture 12, no. 8 (August 15, 2022): 1225. http://dx.doi.org/10.3390/agriculture12081225.

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To decrease the impact of uncertainty disturbance such as sideslip from the field environment on the path tracking control accuracy of an unmanned rice transplanter, a path tracking method for an autonomous rice transplanter based on an adaptive sliding mode variable structure control was proposed. A radial basis function (RBF) neural network, which can precisely approximate arbitrary nonlinear function, was used for parameter auto-tuning on-line. The sliding surface was built by a combination of parameter auto-tuning and the power approach law, and thereafter an adaptive sliding controller was designed. Based on theoretical and simulation analysis, the performance of the proposed method was evaluated by field tests. After the appropriate hardware modification, the high-speed transplanter FLW 2ZG-6DM was adapted as a test platform in this study. The contribution of this study is providing an adaptive sliding mode path tracking control strategy in the face of the uncertainty influenced by the changeable slippery paddy soil environment in the actual operation process of the unmanned transplanter. The experimental results demonstrated that: compared to traditional sliding control methods, the maximum lateral deviation was degraded from 17.5 cm to 9.3 cm and the average of absolute lateral deviation was degraded from 9.1 cm to 3.2 cm. The maximum heading deviation was dropped from 46.7° to 3.1°, and the average absolute heading deviation from 10.7° to 1.3°. The proposed control method not only alleviated the system chattering caused by uncertain terms and environmental interference but also improved the path tracking performance of the autonomous rice transplanter. The results show that the designed control system provided good stability and reliability under the actual rice field conditions.

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Inel, F., and S. Babesse. "Adaptive sliding mode control of a novel cable driven robot model." Journal of Mechanical Engineering and Sciences 13, no. 2 (June 28, 2019): 5150–62. http://dx.doi.org/10.15282/jmes.13.2.2019.26.0423.

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In this paper, we propose an adaptive sliding mode control strategy for a 3D cable-driven parallel robot. The proposed control technique is widely used for dealing with nonlinear systems uncertainties and for improving the robot performance in terms of tracking a desired path. The main contribution of this work is firstly: the graphical user interface (GUI) witch presents a point-to-point command, thus by the visualization of the end-effector position. Secondly, the sliding mode control is modeling for applied to the dynamic model for different trajectories in order to test the accurate tracking of the robot to a desired path. The effectiveness of the proposed control strategy is demonstrated through different simulation results.

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40

Chu, Zhenzhong, Daqi Zhu, Simon X. Yang, and Gene Eu Jan. "Adaptive Sliding Mode Control for Depth Trajectory Tracking of Remotely Operated Vehicle with Thruster Nonlinearity." Journal of Navigation 70, no. 1 (July 28, 2016): 149–64. http://dx.doi.org/10.1017/s0373463316000448.

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This paper focuses on depth trajectory tracking control for a Remotely Operated Vehicle (ROV) with dead-zone nonlinearity and saturation nonlinearity of thruster; an adaptive sliding mode control method based on neural network is proposed. Through the analysis of dead-zone nonlinearity and saturation nonlinearity of thruster, the depth trajectory tracking control system model of a ROV which uses thruster control signals as system input has been established. According to the principle of sliding mode control, an adaptive sliding mode depth trajectory tracking controller is built by using three-layer feed-forward neural network for online identification of unknown items. The selection method and update laws of the control parameters are also given. The uniform ultimate boundedness of trajectory tracking error is analysed by Lyapunov theorem. Finally, the effectiveness of the proposed method is illustrated by simulations.

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41

Lu, Cheng, and Juntao Fei. "Adaptive prescribed performance sliding mode control of MEMS gyroscope." Transactions of the Institute of Measurement and Control 40, no. 2 (July 29, 2016): 400–412. http://dx.doi.org/10.1177/0142331216658948.

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An adaptive prescribed performance sliding mode control (APPSMC) of Micro-Electro-Mechanical System gyroscopes is proposed for the trajectory tracking in the presence of parameter variations and external disturbances. Steady-state error, transient error and convergence rate are important performance indexes in gyroscope systems. However, these indexes have not been investigated and corresponding control methods are not investigated as well. The proposed APPSMC scheme can guarantee that the tracking error is strictly within a predefined performance bound and the convergence rate is no less than a predefined value. All the gyroscope parameters including the angular velocity can be correctly estimated by adaptive laws and the disturbance bound is estimated by a neural network estimator to alleviate the chattering problem. Simulation results demonstrate the effectiveness of the proposed adaptive prescribed performance sliding mode controller.

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42

Semba, Tetsuo, and Katsuhisa Furuta. "Discrete-time adaptive control using a sliding mode." Mathematical Problems in Engineering 2, no. 2 (1996): 131–42. http://dx.doi.org/10.1155/s1024123x96000270.

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Adaptive control using a sliding mode in discrete time systems is proposed as a means of achieving robustness with respect to parameter variations, fast tracking to a desired trajectory, and fast parameter convergence, without increasing the chattering of the control inputs. We first prove the stability of a system in which the control inputs consist of equivalent control driven by the adaptive control law and bounded discontinuous control. The discontinuous control driven by the sliding control law is then obtained so that the output error quickly converges to zero. Finally, the performance improvements obtained by adding the sliding mode control input are shown through computer simulations.

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43

Wang, Sanxiu. "Adaptive Fuzzy Sliding Mode and Robust Tracking Control for Manipulators with Uncertain Dynamics." Complexity 2020 (July 25, 2020): 1–9. http://dx.doi.org/10.1155/2020/1492615.

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In response to the issue of the trajectory tracking control problem of manipulators with uncertain parameters and external disturbance, an adaptive fuzzy sliding mode robust control algorithm is proposed. Sliding mode control (SMC) is adopted to perform robotic manipulator trajectory tracking control. Then, a fuzzy logic system is used for adaptive adjustment of switching gain of the SMC and to reduce the buffeting problem. Next, compensation is made by using the robust controller in consideration of the impacts of unmodeled dynamics and external disturbance. The simulation experiment on a two axes robotic manipulator shows that, with the proposed control method, the sliding mode control input signal is kept smooth, and the manipulator has high trajectory tracking precision.

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44

Pei, Pei, Zhongcai Pei, Zhiyong Tang, and Han Gu. "Position Tracking Control of PMSM Based on Fuzzy PID-Variable Structure Adaptive Control." Mathematical Problems in Engineering 2018 (September 30, 2018): 1–15. http://dx.doi.org/10.1155/2018/5794067.

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A novel Fuzzy PID-Variable Structure Adaptive Control is proposed for position tracking of Permanent Magnet Synchronous Motor which will be used in electric extremity exoskeleton robot. This novel control method introduces sliding mode variable structure control on the basis of traditional PID control. The variable structure term is designed according to the sliding mode surface which is designed by system state equation, so it could compensate for the disturbance and uncertainty. Considering the chattering of sliding mode system, the fuzzy inference method is adopted to adjust the parameters of PID adaptively in real time online, which can attenuate chattering and improve control precision and dynamic performance of system correspondingly. In addition, compared with the traditional sliding mode control, this method takes the fuzzy PID control item to replace the equivalent control item of sliding mode variable structure control, which could avoid the control performance reduction resulted from modeling error and parameter error of system. It is proved that this algorithm can converge to the sliding surface and guarantee the stability of system by Lyapunov function. Simulation results show that Fuzzy PID-Variable Structure Adaptive Control enjoys better control precision and dynamic performance compared with traditional control method, and it improves the robustness of system significantly. Finally, the effectiveness and practicability of the algorithm are verified by the method of Rapid Control Prototyping on the semiphysical simulation test bench.

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Wang, Shuo, Ju Jiang, and Chaojun Yu. "Adaptive Backstepping Sliding Mode Control of Air-Breathing Hypersonic Vehicles." International Journal of Aerospace Engineering 2020 (September 17, 2020): 1–11. http://dx.doi.org/10.1155/2020/8891051.

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In this paper, a controller combining backstepping and adaptive supertwisting sliding mode control method is proposed for altitude and velocity tracking control of air-breathing hypersonic vehicles (AHVs). Firstly, the nonlinear longitudinal model of AHV is introduced and transformed into a strict feedback form, to which the backstepping method can be applied. Considering the longitudinal trajectory tracking control problem (altitude control and velocity control), the altitude tracking control system is decomposed to several one-order subsystems based on the backstepping method, and an adaptive supertwisting sliding mode controller is designed for each subsystem, in order to obtain the virtual control variables and actual control input. Secondly, the overall stability of the closed-loop system is proved by the Lyapunov stability theory. At last, the simulation is carried out on an AHV model. The results show that the proposed controller has good control performances and good robustness in the parameter perturbation case.

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Huang, Sibo, Jianfeng Huang, Zhaoquan Cai, and Han Cui. "Adaptive Backstepping Sliding Mode Control for Quadrotor UAV." Scientific Programming 2021 (September 13, 2021): 1–13. http://dx.doi.org/10.1155/2021/3997648.

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Quadrotor UAV has a strong mobility and flexibility in flight and has been widely used in military and civil fields in recent years. An adaptive backstepping sliding mode control (ABSMC) method is proposed to address the trajectory tracking control problem of quadrotor UAV based on actuator fault and external disturbance. In the proposed method, the switching gain of adaptive sliding mode control is constructed in the backstepping design process in order to suppress the chattering effect of sliding mode control effectively by differential iteration. Firstly, the dynamic model of quadrotor UAV with actuator fault and external disturbance is proposed, and then the controllers are designed based on the ABSMC method. Finally, the comparison experiments between sliding mode control (SMC) method and ABSMC method show that the ABSMC method can not only effectively suppress the chattering problem for the SMC method but also perform a perfect control effect.

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47

Pan, Li, Guanjun Bao, Fang Xu, and Libin Zhang. "Adaptive robust sliding mode trajectory tracking control for 6 degree-of-freedom industrial assembly robot with disturbances." Assembly Automation 38, no. 3 (August 6, 2018): 259–67. http://dx.doi.org/10.1108/aa-02-2017-026.

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PurposeThis paper aims to present an adaptive robust sliding mode tracking controller for a 6 degree-of-freedom industrial assembly robot with parametric uncertainties and external disturbances. The controller is used to achieve both stringent trajectory tracking, accurate parameter estimations and robustness against external disturbances.Design/methodology/approachThe controller is designed based on the combination of sliding mode control, adaptive and robust controls and hence has good adaptation and robustness abilities to parametric variations and uncertainties. The unknown parameter estimates are updated online based on a discontinuous projection adaptation law. The robotic dynamics is first formulated in both joint spaces and workspace of the robot’s end-effector. Then, the design procedure of the adaptive robust sliding mode tracking controller and the parameter update law is detailed.FindingsComparative tests are also conducted to verify the effectiveness of the proposed controller, which show that the proposed controller achieves significantly better dynamic trajectory tracking performances as compared with conventional proportional derivative controller and sliding mode controller under the same conditions.Originality/valueThis is a new innovation for industrial assembly robot to improve assembly automation.

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48

Yao, Bin, and Masayoshi Tomizuka. "Smooth Robust Adaptive Sliding Mode Control of Manipulators With Guaranteed Transient Performance." Journal of Dynamic Systems, Measurement, and Control 118, no. 4 (December 1, 1996): 764–75. http://dx.doi.org/10.1115/1.2802355.

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A systematic way to combine adaptive control and sliding mode control (SMC) for trajectory tracking of robot manipulators in the presence of parametric uncertainties and uncertain nonlinearities is developed. Continuous sliding mode controllers without reaching transients and chattering problems are first developed by using a dynamic sliding mode. Transient performance is guaranteed and globally uniformly ultimately bounded (GUUB) stability is obtained. An adaptive scheme is also developed for comparison. With some modifications to the adaptation law, the control law is redesigned by combining the design methodologies of adaptive control and sliding mode control. The suggested controller preserves the advantages of both methods, namely, asymptotic stability of the adaptive system for parametric uncertainties and GUUB stability with guaranteed transient performance of sliding mode control for both parametric uncertainties and uncertain nonlinearities. The control law is continuous and the chattering problem of sliding mode control is avoided. A prior knowledge of bounds on parametric uncertainties and uncertain nonlinearities is assumed. Experimental results conducted on the UCB/NSK SCARA direct drive robot show that the combined method reduces the final tracking error to more than half of the smoothed SMC laws for a payload uncertainty of 6 kg, and validate the advantage of introducing parameter adaptation in the smoothed SMC laws.

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Zou, Quan. "Adaptive sliding mode control for chain driving system with disturbance observer." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 234, no. 9 (January 24, 2020): 1050–59. http://dx.doi.org/10.1177/0959651819895693.

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The design and implementation of adaptive sliding mode control with disturbance observer for chain driving system driven by permanent magnet synchronous motor with parameter variation, meshing impact and large friction are addressed in this study. First, an adaptive model compensation control law is designed for perfect position tracking, while a nonlinear disturbance observer is investigated to estimate the normalized disturbance, which is fast changing due to the severe polygon effect, the meshing impact and so on. To further improve the robustness and the control performance, the translation-width idea is embedded into the adaptive sliding mode control with disturbance observer system, which can suppress the chattering phenomenon caused by imperfect switching in traditional sliding mode control. Moreover, the translation width is online updated using an adaptive mechanism, which is delivered in the Lyapunov sense. Thus, the stability of the closed-loop system is guaranteed in the Lyapunov stability theorem sense. Experimental results show that the proposed adaptive sliding mode control with disturbance observer scheme is insensitive to parameter variation, meshing impact, large friction and so on, and has a better control performance compared with the traditional adaptive sliding mode control and the disturbance observer–based sliding mode control.

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Wang, Yaoyao, Fei Yan, Bo Tian, Linyi Gu, and Bai Chen. "Nonsingular terminal sliding mode control of underwater remotely operated vehicles." Transactions of the Canadian Society for Mechanical Engineering 42, no. 2 (June 1, 2018): 105–15. http://dx.doi.org/10.1139/tcsme-2017-0051.

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This study investigates the nonsingular terminal sliding mode control (NTSMC) method for the four-degree-of-freedom (4-DOF) trajectory tracking control problem of underwater remotely operated vehicles (ROVs) in the presence of parametric uncertainties and external disturbances. Two new control algorithms have been developed for ROVs. The first one, combining a nonsingular sliding surface with a fast terminal sliding mode (FTSM) type reaching law, is nonsingular and chattering-free. The second one, introducing adaptive methodology to compensate for lumped uncertainties, is an improved version of the first algorithm and can be called adaptive NTSMC (ANTSMC). The adaptive methodology effectively reduces the chattering problem. Meanwhile, it also provides better robustness and higher tracking precision compared with the first algorithm. A corresponding stability analysis is presented using Lyapunov stability theory, and some comparative numerical simulation results are presented to show the effectiveness of the proposed approaches.

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Journal articles on the topic 'Adaptive sliding mode tracking control'

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