Article
Automation & Control Systems
Pengcheng Wang, Dengfeng Zhang, Baochun Lu
Summary: This paper investigates tracking control for robotic manipulators with high accuracy, proposing an ESO control strategy combined with sliding mode control and backstepping control to design a new controller with strong robustness and accuracy. The global stability of the controller is proven using Lyapunov function and barbalat theorem, and simulation and experiment results show performance comparisons with a PID controller, verifying the method's effectiveness through error analysis.
INTERNATIONAL JOURNAL OF CONTROL
(2021)
Article
Mathematics
Lunhaojie Liu, Juntao Fei, Xianghua Yang
Summary: An adaptive sliding mode control (ASMC) method based on improved linear extended state observer (LESO) is proposed for nonlinear systems with unknown and uncertain dynamics. The improved LESO is designed to estimate the total disturbance of the uncertain nonlinear system, and an interval type-2 fuzzy neural network (IT2FNN) is used to optimize and approximate the observer bandwidth. The ASMC strategy is designed based on the total disturbance estimated by LESO to ensure system stability and reduce system chattering.
Article
Automation & Control Systems
Magdi S. Mahmoud, Muhammad Maaruf, Sami El-Ferik
Summary: This paper proposes an adaptive neural network based control method for continuous polymerization reactors, which demonstrates strong robustness and stability, effectively suppresses external disturbances, and eliminates chattering effects.
Article
Automation & Control Systems
Hongbin Wang, Ning Li, Yueling Wang, Bo Su
Summary: This paper proposes a backstepping sliding mode control algorithm based on a high-order extended state observer to address the issues of nonlinear, underactuated, and external wind disturbances in the 6-DOF quadrotor UAV system. The algorithm effectively handles external wind disturbances while ensuring good tracking performance.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2021)
Article
Engineering, Mechanical
Zhen Zhang, Yinan Guo, Dunwei Gong, Song Zhu
Summary: In this study, a global sliding-mode controller based on a reduced-order proportional-derivative-type extended state observer (GSMC-PDESO) is proposed to improve the tracking performance of a hydraulic roofbolter's displacement system affected by dead-zone nonlinearity and uncertain dynamics. Experimental results validate the effectiveness of the proposed controller and strategies.
NONLINEAR DYNAMICS
(2023)
Article
Automation & Control Systems
Zhenghong Xu, Xiaohui Yang, Siyi Zhou, Wenjie Zhang, Wei Zhang, Shuang Yang, Peter Xiaoping Liu
Summary: In this paper, a novel robust finite-time tracking control scheme is proposed for robotic manipulators with uncertainties and external disturbances. The proposed method utilizes an extended state observer and an adaptive backstepping nonsingular fast terminal sliding mode controller to achieve finite time convergence of the tracking errors and reduce the chattering phenomenon.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2022)
Article
Engineering, Marine
Zongxuan Li, Renxiang Bu
Summary: The optimal sliding mode control with state observer is proposed for trajectory tracking of under-actuated ships in the presence of model uncertainties, environmental disturbances, input constraints and optimization. The method converts trajectory tracking into heading control and surge velocity control, establishes heading and surge velocity models, and uses nonlinear SMC with input limits to address input optimization and constraints. Stability analysis and simulations demonstrate the feasibility and effectiveness of this approach.
Article
Automation & Control Systems
Jiae Yang, Yujia Wang, Fuqin Deng, Tong Wang, Shuai Sui, Xuebo Yang, Yu Liu
Summary: Compared with integral-order calculus, fractional calculus is better at depicting the real process with memory property and history-dependent property. This work investigates a class of nonlinear strict-feedback fractional-order systems and presents a novel control strategy. The unknown drift functions and unmeasurable system states are coped with by designing fuzzy logic systems (FLSs) and a robust fractional-order state observer. The problem of the differential explosion caused by repeated differentiation when employing the backstepping technique is also overcome without additional filters or control mechanisms.
INTERNATIONAL JOURNAL OF FUZZY SYSTEMS
(2022)
Article
Acoustics
Haoping Wang, Lei Chang, Yang Tian
Summary: In this study, an extended state observer-based backstepping fast terminal sliding mode control method is proposed to improve the ride comfort of a full-car active suspension system. By estimating the disturbances of external road excitation and uncertain dynamics, better control performance is achieved.
JOURNAL OF VIBRATION AND CONTROL
(2021)
Article
Mathematics
Xiaoyu Gong, Wen Fu, Xingao Bian, Juntao Fei
Summary: An adaptive backstepping terminal sliding mode control method based on a multiple-layer fuzzy neural network is proposed for nonlinear systems with parameter variations and external disturbances. The proposed neural network is used to estimate the nonlinear function and reduce the switching term gain. It has a strong learning ability and high approximation accuracy. The control signal is stabilized using an additional parameter adaptive law derived by the adaptive projection algorithm. Terminal sliding mode control is introduced to ensure finite-time convergence of the tracking error. Simulation results on a DC-DC buck converter model demonstrate the effectiveness and superiority of the proposed control method.
Article
Engineering, Ocean
Zhiquan Liu
Summary: This study improves the robustness of the autopilot system by introducing a sideslip angle based cascade nonlinear steering model, an adaptive extended state observer, and a robust adaptive heading controller to handle un-modelled dynamics, time-varying parameters, and uncertain disturbances. The proposed observer based heading controller ensures that all system states and errors are uniformly ultimately bounded without prior knowledge of nonlinear characteristics and external disturbances.
APPLIED OCEAN RESEARCH
(2021)
Article
Acoustics
Tao Chen, Jiaxin Yuan, Hui Yang
Summary: This article investigates the consensus problem of a class of fractional-order multi-agent systems with input delay, proposing a method based on dynamic surface control and sliding mode control technology, which is validated through examples and simulation results.
JOURNAL OF VIBRATION AND CONTROL
(2022)
Article
Engineering, Electrical & Electronic
Abdul Manan Khan, Vishwanath Bijalwan, Hangyeol Baek, Buhyun Shin, Youngshik Kim
Summary: This research presents a dynamic extended state observer (ESO) with integral sliding mode control (ISMC) for a novel shape memory alloy (SMA) actuator considering hysteresis dynamics and model uncertainties. The hysteresis dynamics of the SMA actuator are modeled using a third-order differential equation. A dynamic ESO with ISMC is designed and experimentally evaluated. The results show that the dynamic ESO with ISMC outperforms the PID controller, ISMC controller, and ESO with ISMC (as a differentiator) in terms of tracking error and robustness.
MICROSYSTEM TECHNOLOGIES-MICRO-AND NANOSYSTEMS-INFORMATION STORAGE AND PROCESSING SYSTEMS
(2023)
Article
Computer Science, Artificial Intelligence
Mien Van, Shuzhi Sam Ge
Summary: This article presents a new strategy for robust fault-tolerant control of robot manipulators using adaptive fuzzy integral sliding-mode control and disturbance observer. The approach involves introducing fuzzy logic system approximation, switching term, and reconstructing the nominal controller for stability. Simulation results demonstrate the effectiveness of the proposed approach.
IEEE TRANSACTIONS ON FUZZY SYSTEMS
(2021)
Article
Automation & Control Systems
Wanshun Zang, Qiang Zhang, Gang Shen, Yunfei Fu
Summary: This paper presents an extended sliding mode observer (ESMO) for electro-hydraulic servo systems (EHSSs) to deal with nonlinear factors, and combines it with a robust adaptive backstepping controller (RABC) to improve tracking performance.
