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adaptive fast terminal sliding mode control of robotic manipulators based on joint torque estimation and friction compensation

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2024年第18期34卷 12223-12238页

作者： Hu, Shunjing Wan, Yi Liang, Xichang Shandong Univ Sch Mech Engn Jinan Peoples R China Shandong Univ Key Lab High Efficiency & Clean Mech Manufacture Minist Educ Jinan Peoples R China

In this work, an adaptive fast terminal sliding mode control (AFSMC) approach based on joint torque estimation and friction compensation is proposed to enhance the trajectory tracking accuracy of robotic manipulators under variable load conditions. The joint torque estimation utilizes an improved harmonic drive compliance model and adaptive low-pass filtering, and friction compensation employs a hybrid model accounting for velocity and load torque effects. These compensations reduce the upper bound of the uncertainty, while AFSMC further reduces dependency on upper uncertainty bounds and minimizes the chattering. The stability analysis using the Lyapunov method confirms the effectiveness of this approach. Experimental results demonstrate that the proposed controller achieves smaller root mean square and maximum error of trajectory tracking, thus significantly improving trajectory tracking accuracy under variable load conditions.

关键词： adaptive fast terminal sliding mode control collaborative robotic manipulators flexible joints friction compensation joint torque estimation

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adaptive fast terminal sliding mode control for Automatic Load Alleviation Problem of Refueling Boom Against Disturbances 33

Adaptive Fast Terminal Sliding Mode Control for Automatic Lo...

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33rd Chinese control and Decision Conference (CCDC)

作者： Zhao Wenbi Qu Yaohong Northwestern Polytech Univ Xian 710072 Peoples R China

ISBN: (纸本)9781665440899

The refueling boom is widely adopted in recent years because of its advantages in autonomous aerial refueling. During the refueling docking process, the contact between the refueling boom and the refueling receptacle of the receiver UAV may generate an excessive radial force which will cause the refueling boom bent or even damaged. To solve this problem, an automatic unloading system of the refueling boom is designed in this paper. Firstly, the attitude kinematic model of the refueling boom and the loading dynamic model are established, meanwhile the disturbance observer is designed based on sliding mode theory to estimate the exogenous disturbance. Then, the adaptive fast terminal sliding mode control method is adopted to control the attitude of the refueling boom, and the traditional PID control method is further used to achieve the automatic unloading. Finally, numerical simulation results validate the efficacy of the proposed control system.

关键词： Refueling boom UAV automatic load alleviation sliding mode disturbance observer adaptive fast terminal sliding mode control

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adaptive fast terminal sliding mode control for Automatic Load Alleviation Problem of Refueling Boom Against Disturbances

Adaptive Fast Terminal Sliding Mode Control for Automatic Lo...

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第33届中国控制与决策会议

作者： Zhao Wenbi Qu Yaohong Northwestern Polytechnical University

The refueling boom is widely adopted in recent years because of its advantages in autonomous aerial *** the refueling docking process,the contact between the refueling boom and the refueling receptacle of the receiver UAV may generate an excessive radial force which will cause the refueling boom bent or even *** solve this problem,an automatic unloading system of the refueling boom is designed in this ***,the attitude kinematic model of the refueling boom and the loading dynamic model are established,meanwhile the disturbance observer is designed based on sliding mode theory to estimate the exogenous ***,the adaptive fast terminal sliding mode control method is adopted to control the attitude of the refueling boom,and the traditional PID control method is further used to achieve the automatic ***,numerical simulation results validate the efficacy of the proposed control system.

关键词： Refueling boom UAV automatic load alleviation sliding mode disturbance observer adaptive fast terminal sliding mode control

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Quaternion-based adaptive backstepping fast terminal sliding mode control for quadrotor UAVs with finite time convergence

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RESULTS IN ENGINEERING 2024年 23卷

作者： Shevidi, Arezo Hashim, Hashim A. Carleton Univ Dept Mech & Aerosp Engn Ottawa ON K1S 5B6 Canada

This paper proposes a novel quaternion-based approach for tracking the translation (position and linear velocity) and rotation (attitude and angular velocity) trajectories of underactuated Unmanned Aerial Vehicles (UAVs). Quadrotor UAVs are challenging regarding accuracy, singularity, and uncertainties issues. controllers designed based on unit-quaternion are singularity-free for attitude representation compared to other methods (e.g., Euler angles), which fail to represent the vehicle's attitude at multiple orientations. Quaternion-based adaptive Backstepping control (ABC) and adaptive fast terminal sliding mode control (AFTSMC) are proposed to address a set of challenging problems. A quaternion-based ABC, a superior recursive approach, is proposed to generate the necessary thrust handling unknown uncertainties and UAV translation trajectory tracking. Next, a quaternionbased AFTSMC is developed to overcome parametric uncertainties, avoid singularity, and ensure fast convergence in a finite time. Moreover, the proposed AFTSMC is able to significantly minimize control signal chattering, which is the main reason for actuator failure and provide smooth and accurate rotational control input. To ensure the robustness of the proposed approach, the designed control algorithms have been validated considering unknown time-variant parametric uncertainties and significant initialization errors. The proposed techniques have been compared to state-of-the-art control technique.

关键词： adaptive backstepping control (ABC) adaptive fast terminal sliding mode control (AFTSMC) Unit-quaternion Unmanned aerial vehicles Pose control

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A Finite Time Tracking control for Manipulators Using New adaptive fast terminal sliding mode Surface 13

A Finite Time Tracking Control for Manipulators Using New Ad...

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13th Asian control Conference (ASCC)

作者： Hoang, Quoc Hung Ahn, Kyoung Kwan Univ Ulsan Sch Mech Engn Ulsan South Korea

ISBN: (纸本)9788993215236

This paper presents a finite-time control scheme that is introduced via a new adaptive fast terminal sliding mode control method for 3-DOF robot manipulators that eliminates uncertainties effect on the robot and improves the convergence rate. In addition, a super-twisting algorithm is applied to mitigate chattering in the output robot trajectory and control signal of the controller. The result of the proposed control algorithm ensures finite-time stability and fast convergence, which is confirmed with the Lyapunov principle. Finally, the effectiveness of the proposed controller is verified with simulations.

关键词： adaptive fast terminal sliding mode control Super-Twisting Algorithm Finite Time Convergence

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