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model-free sliding mode prescribed performance control of robotic manipulator based on new reaching law

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 2023年第4期20卷

作者： Deng, Fuwei Wen, Quanwei Yang, Li Nanchang Univ Sch Informat Engn Nanchang Jiangxi Peoples R China Nanchang Univ Sch Informat Engn 999 Xuefu Rd Nanchang 330038 Jiangxi Peoples R China

The article proposes a model-free sliding mode prescribed performance control method for robotic manipulator. For accelerating the errors converging rate as well as bringing down the real-time control torque, an error-driven nonsingular fast terminal sliding mode is employed in this control method. Besides, a modified power reaching law is newly designed, which is able to offer better chattering elimination performance than traditional power reaching law. To solve the problem that the controller's performance highly relies on the accuracy of robotic model, a model-free control idea is introduced where an ultra-local model is established and the estimation of time delay is used to approximate the unknown part of the ultra-local model. Considering the transient performance is a significant element that effects the using security and system stability, the technique of prescribed performance control is introduced to limit the state errors in a prescribed region. The closed-loop stability proof of the whole system is achieved according to Lyapunov's stability theorem. The proposed controller's superiority and feasibility compared with other controllers are demonstrated by numerical simulations.

关键词： model-free control slide mode control robotic manipulators prescribed performance control

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Robust Fixed Time control of a Class of Chaotic Systems with Bounded Uncertainties and Disturbances

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INTERNATIONAL JOURNAL OF control AUTOMATION AND SYSTEMS 2022年第3期20卷 813-822页

作者： Su, Haipeng Luo, Runzi Huang, Meichun Fu, Jiaojiao Nanchang Univ Sch Sci Dept Math Nanchang 330031 Jiangxi Peoples R China

This paper investigates the fixed time control of a class of chaotic systems with uncertainties and disturbances via a novel fixed time theorem. By using variable substitution to calculate definite integral, a sufficient condition for fixed-time stability is firstly derived. Then, based on the given fixed time stable theory, a new nonlinear slide mode surface is proposed. By using a novel robust controller, the system's state trajectories are driven to its origin in a fixed time which is independent on the initial value. The control strategy is applied to the permanent magnet synchronous motor (PMSM) chaotic system, and the results of numerical simulation demonstrate the effectiveness of the proposed schemes.

关键词： Chaotic systems fixed-time stability robust control slide mode control

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BAT Optimized SMC for Continuous Stirred Tank Reactor 8

BAT Optimized SMC for Continuous Stirred Tank Reactor

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8th IEEE Information Technology and Mechatronics Engineering Conference, ITOEC 2025

作者： Haroon, Husam E. Elfadel Huang, Congzhi North China Electric Power University School of Control and Computer Engineering Beijing102206 China Omdurman Islamic University Faculty of Engineering Department of Electrical and Electronic Engineering Khartoum Sudan

ISBN: (纸本)9798331517915

This topic proposed a Sliding mode control (SMC) strategy utilizing the BAT Algorithm (BAT-SMC) for regulating concentration and temperature in a Continuous Stirred Tank Reactor (CSTR) system. The SMC is designed to maintain concentration (CA) and temperature (T) within desired setpoints by adapting sliding surfaces in the presence of disturbances and system uncertainties. The BAT Algorithm enhances the SMC by optimizing control parameters, reducing chattering effects, and improving tracking accuracy. Simulations validate the efficacy of BAT-SMC, showing improved dynamic performance for both concentration and temperature control compared to other controllers. © 2025 IEEE.

关键词： Bat Algorithm Continuous stirred tank reactor slide mode control

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Three-stage Trajectory Planning and control of Miniature Munition 41

Three-stage Trajectory Planning and Control of Miniature Mun...

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第41届中国控制会议

作者： Peng Wang Shiwei Chen Jiang Wang Junfang Fan Junxian Li Denghui Dou School of Aerospace Engineering Beijing Institute of Technology Beijing Key Laboratory of High Dynamic Navigation Technology Beijing Information Science & Technology University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The two-stage launched miniature munition with laser beam riding steered system can't enter the laser information field at the initial *** difficult to obtain the guidance information to strike the moving *** paper proposes a design frame including geometric trajectory planning and sliding mode guidance for miniature guided *** pitch trajectory is divided into three stages described with explicit *** switching point of two stages is designed,and the parameters of polynomial curves are solved using the continuous and derivable properties to avoid *** polynomial curve be also adopted as the expected trajectory for yaw channel.A numerical example for miniature guided munition with sliding mode control is demonstrated for the validity and practicability of the proposed method.

关键词： Trajectory planning slide mode control Laser beam riding steered Miniature munition

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The Equivalent Sliding mode Tension control of Carbon Fiber Multilayer Diagonal Loom

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INTERNATIONAL JOURNAL OF control AUTOMATION AND SYSTEMS 2019年第7期17卷 1762-1769页

作者： Xu, Guowei Zhou, Ruxia Liu, Wei Hao, Fangrui Tianjin Polytech Univ Sch Elect Engn & Automat Tianjin 300387 Peoples R China Tianjin Polytech Univ Key Lab Adv Elect Engn & Energy Technol Tianjin 300387 Peoples R China Tianjin Polytech Univ Sch Mech Engn Tianjin 300387 Peoples R China

In order to enhance the tension control performance of the carbon fiber multilayer diagonal loom, two control methods based on the yarn warping and the curling control are proposed. The tension control mathematical models of carbon fiber multilayer diagonal loom, the yarn warping control model and the curling control model, are reestablished by the force analysis of the warping and the curling systems. Some technological process movements, such as the opening and the beating-up, are regarded as the disturbances. Based on the equivalent sliding mode control theory, the tension control strategies of the warping and the curling are constructed. Lyapunov method is used to prove the stability of the systems. Simulation results show that both the two methods could control the tension of the yarn, and the control results have good robustness to the disturbances.

关键词： Carbon fiber multilayer diagonal loom curling slide mode control warping yarn tension control

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Vibration Reduction System with a Linear Motor: Operation modes, Dynamic Performance, Energy Consumption

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ENERGIES 2022年第5期15卷 1910-1910页

作者： Orkisz, Pawel Sapinski, Bogdan AGH Univ Sci & Technol Fac Mech Engn & Robot Dept Proc Control Mickiewicza 30 Ave PL-30059 Krakow Poland

The study aimed to present the features of a 2-DOF vibration reduction system (VRS) equipped with a linear electrodynamic motor in passive, semi-active and active mode. At first, the VRS model was formulated. Then, simulation tests of the VRS were conducted to distinguish its most advantageous features in each mode and to analyze dynamic performance and energy consumption. Next, the VRS was experimentally tested to evaluate its effectiveness in each mode for the assumed excitations and to compare tests results against simulation data. In active mode, a sliding mode algorithm was employed for motor control, while in semi-active mode, the equivalent damping coefficient analysis was used.

关键词： linear electrodynamic motor vibration passive mode semi-active mode active mode slide mode control dynamic performance energy consumption

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Fuzzy adaptive PID fast terminal sliding mode controller for a redundant manipulator

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MECHANICAL SYSTEMS AND SIGNAL PROCESSING 2021年 159卷 107577-107577页

作者： Zhong, Guoliang Wang, Changming Dou, Weiqiang Cent South Univ State Key Lab High Performance Complex Mfg Changsha 410083 Peoples R China Cent South Univ Sch Mech & Elect Engn Changsha 410083 Peoples R China

In this study, a fuzzy adaptive PID fast terminal sliding mode controller has been proposed for a redundant manipulator system with a variable load. The method realizes an accurate tracking of the trajectory at the end effector of the manipulator and improves its robustness toward model uncertainty and external disturbance when controlling the position of the redundant manipulator. By using the advantages of the PID and the fast terminal sliding mode control, the convergence speed of the control algorithm has been improved, and its steady-state error has been reduced. Also, integration of the continuous approximation law has been used to eliminate the real-time chattering during the control process without affecting the robustness of the system. A fuzzy adaptive control law has been designed in order to estimate the error of the dynamic system and the upper bound of the disturbance on the external load. Further, the variable switching gain makes the control system achieve better performance in different external environments. Finally, the stability of the controller has been proved by the Lyapunov theory, and the effectiveness and superiority of the control method has been verified by using the simulation and experimental platform for a seven-degrees-of-freedom redundant robot manipulator. (c) 2021 Elsevier Ltd. All rights reserved.

关键词： Redundant manipulator modeling slide mode control Trajectory tracking Robustness

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The Power Distribution control Strategy of Fully-Active Hybrid Energy Storage System Based on Sliding mode control

The Power Distribution Control Strategy of Fully-Active Hybr...

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作者： Zhangyu Lu Chongzhuo Tan Liang Zheng Hunan Institute of Engineering

In view of the problem of insufficient driving distance of electric vehicles,the supercapacitor（SC） and DC/DC converter are connected in parallel to form an fully-active hybrid energy storage system（HESS）,in which the battery is used as the main power source,and the SC is used as the auxiliary power source,and they are connected to the bus through a bidirectional DC/DC converter.A power distribution control strategy based on sliding mode control is *** proposed control strategy includes a sliding mode controller to accurately track the reference values of battery and supercapacitor current,a voltage controller is used to maintain bus voltage stability,and the stability analysis is based on the Lyapunov *** simulation results show that the proposed sliding mode control strategy can accurately track the reference value of the battery and SC current,and stabilize the bus *** effectiveness of the proposed control strategy is fully proved.

关键词： Electric Vehicle Hybrid Energy Storage System Energy Management Power Distribution slide mode control

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Probabilistic Consensus of Multi-agent System under Joint control of SMC and Minimum Entropy Compensation 2

Probabilistic Consensus of Multi-agent System under Joint Co...

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2nd International Conference on Industrial Artificial Intelligence, IAI 2020

作者： Zhang, Xuerou Wang, Jing Zhou, Jinglin Chen, Yangquan Han, Cunwu College of Information Science and Technology Beijing University of Chemical Technology Beijing China Key Laboratory of Beijing for Fieldbus Technology and Automation North China University of Technology Beijing China Mechatronics Embedded Systems and Automation Lab University of California Merced United States

ISBN: (纸本)9781728182162

Due to the stochastic of multi-agent systems, it is difficult to achieve strict consensus. In this paper, consensus in the sense of probability is achieved by reducing the output error entropy of multi-agent system. Sliding mode controller is the core to keep the system stability and probability density function(PDF) compensator is used to reduce the chattering effect of sliding mode and compensate the random part of the system. Radial basis function neural network combined with the minimum entropy criterion is used to model the PDF compensator, and the output error entropy of the system is minimized through the training of weights, so as to optimize the control effect. Finally, the simulation results verify the effectiveness of the method. © 2020 IEEE.

关键词： minimum entropy criterion multi-agent system PDF radial basis function neural network slide mode control

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Extended State Observer-Based Robust Backstepping Sliding mode control for a Small-Size Helicopter

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IEEE ACCESS 2018年 6卷 33480-33488页

作者： He, Miaolei He, Jilin Cent S Univ State Key Lab High Performance Complex Mfg Changsha 410083 Hunan Peoples R China Carnegie Mellon Univ Robot Inst Pittsburgh PA 15213 USA

This paper addresses the design and application controller for a small-size unmanned aerial vehicle. A new robust sliding mode controller (SMC) is proposed to improve the performance under internal model uncertainty and external disturbance conditions. To precisely control the attitude and position, a new SMC based on the backstepping technique is formulated to guarantee the attitude system stability. To implement this controller, an extended state observer is used to estimate the unmeasurable states and external disturbances. Moreover, a new sliding mode control method with the backstepping technique is applied to ensure that the position system is stable. In addition, the Lyapunov theory demonstrates the stability of the attitude and position loops. Finally, the numerical experimental flight results are provided to illustrate the effectiveness and robustness of the proposed controller.

关键词： UAV backstepping control slide mode control Lyapunov theory

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