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1.
An adaptive sliding mode trajectory tracking controller is developed for fully-actuated robotic airships with parametric uncertainties and unknown wind disturbances. Based on the trajectory tracking model of robotic airships, an adaptive sliding mode control strategy is proposed to ensure the asymptotic convergence of trajectory tracking errors and adaptive estimations. The crucial thinking involves an adaptive scheme for the controller gains to avoid the off-line tuning. Specially, the uncertain physical parameters and unknown wind disturbances are rejected by variable structure control, and boundary layer technique is employed to avoid the undesired control chattering phenomenon. Computer experiments are performed to demonstrate the performance and advantage of the proposed control method.  相似文献   

2.
The tracking problem of high-order nonlinear multi-agent systems (MAS) with uncertainty is solved by designing adaptive sliding mode control. During the tracking process, node failures are possible to occur, a new agent replaces the failed one. Firstly, a distributed nonsingular terminal sliding mode(NTSM) control scheme is designed for the tracking agents. A novel continuous function is designed in the NTSM to eliminate the singularity and meanwhile guarantee the estimation of finite convergence time. Secondly, the unknown uncertainties in the tracking agents are compensated by proposing an adaptive mechanism in the NTSM. The adaptive mechanism adjusts the control input through estimating the derivative bound of the unknown uncertainties dynamically. Thirdly, the tracking problem with node failures and agent replacements is further investigated. Based on the constructed impulsive-dependent Lyapunov function, it is proved that the overall system will track the target in finite time even with increase of jump errors. Finally, comparison simulations are conducted to illustrate the effectiveness of proposed adaptive nonsingular terminal sliding mode control method for tracking systems suffering node failures.  相似文献   

3.
Synchronization of two identical chaotic systems with matched and mismatched perturbations by utilizing adaptive sliding mode control (ASMC) technique is presented in this paper. The sliding surface function is specially designed based on the Lyapunov stability theorem and linear matrix inequality (LMI) optimization technique. The designed tracking controller can not only suppress the mismatched perturbations when the controlled dynamics (master–slave) are in the sliding mode, but also drive the trajectories of synchronization errors into a small bounded region whose size can be adjusted through the designed parameters. Adaptive mechanisms are employed in the proposed control scheme for adapting the unknown upper bounds of the perturbations, and the stability of overall controlled synchronization systems is guaranteed. The comparison of the proposed chaotic synchronization technique with an existing generalized chaotic synchronization (GCS) method as well as application of the proposed control method to secure communications is also demonstrated in this paper.  相似文献   

4.
Finite-time stability involves dynamical systems whose trajectories converge to an equilibrium state in finite time. In this paper, we consider a general class of fully actuated mechanical systems described by Euler–Lagrange dynamics and the class of underactuated systems represented by mobile robot dynamics that are required to reach and maintain the desired trajectory in finite time. An approach known as the terminal sliding mode control (TSMC) involves non-smooth sliding surfaces such that, while on the sliding surface, the error states converge to the origin in finite time thus ensuring finite-time tracking. The main advantage of this control scheme is in fast converging times without excessive control effort. Such controllers are known to have singularities in some parts of the state space and, in this paper, we propose a method of partitioning the state space into two regions where the TSMC is bounded and its complement. We show that the region of bounded TSMC is invariant and design an auxiliary sliding mode controller predicated on linear smooth sliding surface for the initial conditions outside this region. Furthermore, we extend these results to address TSMC for underactuated systems characterized by the mobile robot dynamics. We demonstrate the efficacy of our approach by implementing it for a scenario when multiple dynamic agents are required to move in a fixed formation with respect to the formation leader. Finally, we validate our results experimentally using a wheeled mobile robot platform.  相似文献   

5.
This paper considers the tracking control of fractional-order nonlinear systems (FONSs) in triangular form with actuator faults by means of sliding mode control (SMC) and composite learning SMC (CLSMC). In SMC design, a fractional sliding surface is introduced, and an adaptation law is designed to update the estimation of the mismatched parametric uncertainty in the actuator faults. The proposed SMC can guarantee the convergence of the tracking error where a persistent excitation (PE) condition should be satisfied. To overcome this limitation, by using the online recorded data and the instantaneous data, a prediction error of the parametric uncertainty is defined. Both the tracking error and the prediction error are utilized to generate a composite learning law. A composite learning law is designed by using the prediction error and the tracking error. The proposed CLSMC can guarantee not only the stability of system but also the accurate estimation of the parametric uncertainties in the actuator faults. In CLSMC, only an interval-excitation (IE) condition that is weaker than the PE one should be satisfied. Finally, simulation example is presented to show the control performance of the proposed methods.  相似文献   

6.
This paper investigates an adaptive prescribed performance control strategy with specific time planning for trajectory tracking of robotic manipulator subject to input constraint and external disturbances. By constructing an accumulated error vector embedded with a performance enhancement function and introducing an input auxiliary function, a specified-time control framework with built-in prescribed performance is further designed to ensure that the trajectory tracking performance. More particularly, the proposed control law is compatible with the control input saturation suppression algorithm, which is capable of improving the robustness of closed loop system. Under the framework of the proposed control strategy, it is proved by theory that all the signals in the closed-loop system are bounded, and moreover the tracking error can reach the exact convergence domain in a given time. At last, a numerical example is presented to indicate the feasibility and effectiveness of the proposed method.  相似文献   

7.
In this paper an adaptive second order terminal sliding mode (SOTSM) controller is proposed for controlling robotic manipulators. Instead of the normal control input, its time derivative is used in the proposed controller. The discontinuous sign function is contained in the derivative control and the actual control obtained after integration is continuous and hence chatterless. An adaptive tuning method is utilized to deal with the system uncertainties whose upper bounds are not required to be known in advance. The performance of the proposed control strategy is evaluated through the control of a two-link rigid robotic manipulator. Simulation results demonstrate the effectiveness of the proposed control method.  相似文献   

8.
四轮全向机器人是一个复杂的四维冗余系统,其轨迹跟踪控制性能极易受到模型不确定性及外界干扰的影响。针对这一问题,本文提出一种基于动力学模型的四轮全向机器人滑模轨迹跟踪控制方法。首先,通过输入变换将复杂的四维冗余机器人系统模型转化为三维模型,然后针对模型不确定性及外界扰动,采用滑模控制算法进行轨迹跟踪控制。仿真结果表明,该方法能够有效抑制外界干扰,同时降低模型不确定性的影响,机器人能够很好地跟踪期望轨迹,跟踪速度快,跟踪精度高。  相似文献   

9.
In this paper, an adaptive concave barrier function scheme coupled with the non-singular terminal sliding mode control technique is proposed for finite-time tracking control of the under-actuated nonlinear system in the existence of model uncertainty, external disturbance and input saturation. Firstly, the dynamical equation of under-actuated nonlinear n-order system is expressed under model uncertainty, external disturbance and input saturation. Secondly, for the improvement of stability performance of the system in the existence of input saturation, a compensation system is designed to overcome the constraint on the control input. Afterward, the tracking errors between actual states of the system and differentiable reference signals are defined and the sliding surface based on the defined tracking errors is presented. Then, for gaining the better transient and steady-state performance of the closed-loop system, the prescribed performance control scheme is adopted. Based on this method, the transformed prescribed form of the previous determined sliding surface is obtained to ensure that the sliding surface can reach to a predefined region. Afterward, for assurance of the finite-time reachability of transformed sliding surface, the nonsingular terminal sliding surface is recommended. In addition, for the compensation of the model uncertainty and external disturbance existed in the system, the adaptive-based concave barrier function technique is used to estimate the unknown bounds of uncertainty and exterior disturbance. Finally, for demonstration of the proposed control method, the simulations and experimental implementation are done on the air levitation system.  相似文献   

10.
In this paper, the tracking control problem of uncertain Euler–Lagrange systems under control input saturation is studied. To handle system uncertainties, a leakage-type (LT) adaptive law is introduced to update the control gains to approach the disturbance variations without knowing the uncertainty upper bound a priori. In addition, an auxiliary dynamics is designed to deal with the saturation nonlinearity by introducing the auxiliary variables in the controller design. Lyapunov analysis verifies that based on the proposed method, the tracking error will be asymptotically bounded by a neighborhood around the origin. To demonstrate the proposed method, simulations are finally carried out on a two-link robot manipulator. Simulation results show that in the presence of actuator saturation, the proposed method induces less chattering signal in the control input compared to conventional sliding mode controllers.  相似文献   

11.
Lack of actuators creates many challenges in controlling underactuated systems. Additional difficulty arises when underactuated systems are subject to actuator faults, parametric uncertainties, and disturbances. We develop an adaptive robust controller for such systems by combining various advanced techniques with many benefits. The core of the controller, which is based on nonsingular integral fast-terminal sliding mode, ensures high robustness and quick finite-time convergence, reduces chattering, and prevents singularity. Fault-tolerant control provides good fault compensation. Fractional derivatives make the control structure flexible because fractional orders are adjustable gains. Self-tuning control creates an adaption mechanism that endows the system an intelligent behavior. Two layers of the sliding mode that contain fractional derivative, terminal power, and definite integral ensure terminal Mittag–Leffer stability. We test the proposed approach on an underactuated floating crane through a simulation and an experiment. A comparison with other methods shows the superiority of our approach.  相似文献   

12.
The control problem of the cooperative motion of a two-link dual arm robot during handling and transportation of an object was studied in this paper. Since these types of robots are frequently preferred for hazardous applications such as transportation of radioactive materials and disposal of explosives, a robust non-chattering sliding mode controller (SMC) improved by a multiple-input multiple-output (MIMO) fuzzy logic unit was applied to the robot to track the desired trajectory with high accuracy and transport the load safely. In order to assess the performance of the proposed MIMO fuzzy sliding mode controller (MIMO-FSMC) in presence of parameter variations and external disturbances, a sudden load variation and noise were introduced to the robot system. If compared with classical SMC, tracking errors with smaller magnitudes and faster convergence to zero were obtained by using the proposed MIMO-FSMC. Numerical results suggest that this type of control method may safely be used for cooperative motion control of dual arm robots in load handling and transport applications in hazardous environments with high accuracy.  相似文献   

13.
《Journal of The Franklin Institute》2023,360(13):10127-10164
This paper investigates a difficult problem of nonlinear dynamics and motion control of a dual-flexible servo system with an underactuated hand (DFSS-UH). Variation in grasping mass and nonlinear factors of the DFSS-UH including complex flexible deformation and friction torque aggravate the output speed fluctuation, leading to modeling errors in the dynamics, which in turn affects the underactuated hand motion accuracy. A novel neural network sliding mode control (NNSMC) method is designed to control the DFSS-UH. The strategy utilizes neural networks to compensate for dynamics modeling errors, which takes into account neglected nonlinear factors and inaccurate friction torque. The reaching law with the hyperbolic tangent function is proposed to improve sliding mode control, thereby weakening the chattering phenomenon. First of all, the DFSS-UH mechanical model considering many nonlinear factors is established and a dynamic simplification model which ignores higher-order modes is proposed. Secondly, the adaptive law of weighted coefficients is proposed according to the stability of the DFSS-UH. Finally, the physical control platform of the DFSS-UH is built, and simulation and control experiments are conducted. Experimental results show that the improved NNSMC strategy decreases the tracking error of flexible load, thereby enhancing the control accuracy of the DFSS-UH.  相似文献   

14.
This paper proposes a data-driven terminal sliding mode decoupling controller with prescribed performance for a class of discrete-time multi-input multi-output systems in the presence of external disturbances and uncertainties. First, utilizing a discrete-time extended state observer and a compact form dynamic linearization data model, we derive a new data-driven mothod and establish the relationship between the input and output signals of controlled plant. Moreover, the disturbances, uncertainties, and couplings are suppressed owing to the application of the terminal sliding mode technique. Combined with the principle of prescribed performance control, the terminal sliding mode law with prescribed performance is derived. With the proposed data-driven method, the tracking error is lower, and the decoupling ability is improved. Furthermore, the stability of the control system is proven. Finally, a simulation is conducted on a three-tank system to demonstrate the effectiveness of the proposed scheme.  相似文献   

15.
This paper investigates the time-varying output formation tracking problem of heterogeneous multi-agent systems subjected to model uncertainties and external disturbances via adaptive event-triggered mechanism. Firstly, an adaptive distributed event-triggered observer is constructed to acquire the leader’s state and a time-varying formation output tracking controller utilizing sliding mode method is proposed to deal with the model uncertainties and external disturbances can be addressed. Secondly, an algorithm is given to claim the design procedures of the event-triggered based controller and asymptotic convergence of the controller is proved based on Lyapunov theory. Thirdly, Zeno-behavior is proved to be excluded strictly. Finally, a numerical example is given to illustrate the effectiveness of the proposed algorithm.  相似文献   

16.
In order to ensure that under the influence of input saturation, a safe distance between adjacent locomotives and adjacent trains in multiple heavy haul trains (HHTS) is main-tained, an anti-saturation sliding mode consistency (ASMC) control algorithm is proposed. First, a multitrain and multiparticle dynamic model (MMDM) based on multitrain single particle that considers nonlinear coupling force and external disturbance effect is established. Next, a dynamic auxiliary compensation (DAC) system combined with sliding mode surface that can rapidly reduce the saturation deviation is designed and consistency algorithm of the simplified control structure is introduced to construct the ASMC control algorithm. Then, theoretical derivation proved that the algorithm can ensure the convergence of the tracking distance between adjacent locomotives and between adjacent trains to a bounded safe range whilst overcoming the influence of input saturation on each train. Lastly, the simulink and RT-LAB simulation results are used to verify the effectiveness of the design algorithm.  相似文献   

17.
In this paper a sliding mode position control for high-performance real-time applications of induction motors is developed. The design also incorporates a sliding mode rotor flux estimator in order to avoid the flux sensors. The proposed control scheme presents a low computational cost and therefore can be implemented easily in a real-time applications using a low cost Digital Signal Processor (DSP). The stability analysis of the observer and the controller, under parameter uncertainties and load torque disturbances, is provided using the Lyapunov stability theory. Finally simulated and experimental results show that the proposed controller with the proposed observer provides a good trajectory tracking and that this scheme is robust with respect to plant parameter variations and external load disturbances.  相似文献   

18.
This paper addresses the flow control design of a connection-oriented communication network from the robust control theory perspective. Network is modelled as a nth order discrete system whose first order model is obtained using the two-time scale property associated with the process. The proposed scheme is characterised by an equivalent control based discrete sliding mode design for the first order model which is applied to nth order systems through aggregation. Besides its design simplicity, the proposed method exhibits finite time convergence property for the states while applied to the full order system emulating the characteristics of terminal sliding mode in a certain way. Simulation results via Matlab and ns-2 validate the efficacy of the proposed algorithm as an effective flow controller for connection-oriented networks.  相似文献   

19.
This paper proposes a novel approach to the design of reaching law based on Sliding Mode Controller (SMC) for multi input multi output (MIMO) non-linear systems so as to overcome the drawbacks associated with conventional reaching law based SMC design strategies. The modification is proposed with an aim to completely eliminate chattering, to ensure control inputs within admissible limits and to guarantee fast response when SMC is used. Modification to conventional power rate reaching law is the point of interest here in order to ensure complete elimination of chattering. Two different modifications to power rate reaching law are presented which incorporate control constraints during controller design so that admissible control input limits are not exceeded. The first modified method ensures limited control effort as well as complete chattering free response, but does not improve the reaching characteristics. So a second adaptive modification to power rate reaching law is also presented here. This method ensures fast reaching to the sliding surface along with properties of complete elimination of chattering and bounded control inputs. However, as in power rate reaching law these modified methods retain the limitation of not possessing robustness properties. The method is applied to a three degree of freedom robotic arm which is typically a non-linear MIMO system. The ability of the presented method to satisfy attributes, viz., chattering free operation, bounded control inputs and fast response is compared with the performance of various reaching law methods available in the literature. The performance of the proposed method is validated through simulation studies on the robotic arm example.  相似文献   

20.
A homing mechanism is required for repositioning as a system performs tasks repeatedly. By examining the effect of poor repositioning on the tracking performance of iterative learning control, this paper develops a varying-order learning approach for the performance improvement. Through varying-order learning, the resultant system output trajectory is ensured to follow a given trajectory with a lowered error bound, in comparison with the conventional fixed-order method. A discrete-time initial rectifying action is introduced in the formed varying-order learning algorithm, and a sufficient condition for convergence is derived. An implementable scheme is presented based on the proposed approach, and illustrated by numerical results of two examples of robotic manipulators.  相似文献   

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