Improved Sliding Mode Active Disturbance Rejection Control of an Auxiliary Robotic Arm for Puncture Robots

International Journal of Robust and Nonlinear Control, Journal Year: 2025, Volume and Issue: unknown

Published: April 6, 2025

ABSTRACT The research on disturbance rejection control for robotic arms in assisted puncture surgery systems aims to improve the precision of surgeries. In this article, an improved sliding mode (SMC) strategy arm with active capability is proposed. First, a nonlinear extended state observer (NESO) introduced detect unknown disturbances based space arm. Next, performance function established constrain tracking errors, and surface constructed constraint function. addition, SMC designed NESO, sign proposed minimize system chattering. A comparison other SMCs demonstrates robustness function‐based (SMADRC) article. Finally, controller tested 6DOF arm, demonstrating accurate joint angle effective detection. average root‐mean‐square error (RMSE) 2DOF These results further validate adaptability accuracy method described

Language: Английский

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Nonsingular Fast Predefined Time Convergence Sliding Mode Control for Construction Robot

ISA Transactions, Journal Year: 2025, Volume and Issue: unknown

Published: April 1, 2025

Language: Английский

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Adaptive data-driven controller based on fractional calculus for solid oxide fuel cell

International Journal of Dynamics and Control, Journal Year: 2024, Volume and Issue: unknown

Published: June 17, 2024

Language: Английский

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A Novel Time Delay Nonsingular Fast Terminal Sliding Mode Control for Robot Manipulators with Input Saturation

Mathematics, Journal Year: 2024, Volume and Issue: 13(1), P. 119 - 119

Published: Dec. 31, 2024

Manipulator systems are increasingly deployed across various industries to perform complex, repetitive, and hazardous tasks, necessitating high-precision control for optimal performance. However, the design of effective algorithms is challenged by nonlinearities, uncertain dynamics, disturbances, varying real-world conditions. To address these issues, this paper proposes an advanced orbit-tracking approach manipulators, leveraging advancements in Time-Delay Estimation (TDE) Fixed-Time Sliding Mode Control techniques. The TDE approximates robot’s unknown dynamics uncertainties, while a novel nonsingular fast terminal sliding mode (NFTSM) surface fixed-time reaching law (FTRCL) introduced ensure faster convergence within fixed time improved accuracy without singularity issue. Additionally, innovative auxiliary system designed input saturation effects, ensuring that states converge zero even when occurs. Lyapunov-based theory employed prove overall system. effectiveness proposed controller validated through simulations on 3-DOF SAMSUNG FARA AT2 robot manipulator. Comparative analyses against NTSMC, NFTSMC, GNTSMC methods demonstrate superior performance, characterized convergence, reduced chattering, higher tracking accuracy, model-free design. These results underscore potential strategy significantly enhance robustness, precision, applicability robotic industrial environments.

Language: Английский

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Robust Sliding Mode Control for Time-Varying Systems With Adaptive Prescribed Performance

IEEE Access, Journal Year: 2024, Volume and Issue: 12, P. 89046 - 89054

Published: Jan. 1, 2024

The system parameter variations will degrade the performances, and they can not be estimated in time. This paper proposes a robust sliding mode control for time-varying systems with adaptive prescribed performance. Firstly, an performance function (PPF) is defined to overcome singular problem that may occur traditional PPFs. Based on proposed PPF, parameters. Instead of estimation, their upper or lower bounds are used design controller. stability analyzed by Lyapunov function. Finally, effectiveness method validated simulations experiments Peltier cooling system.

Language: Английский

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Ultra-local model based prescribed performance adaptive control of overhead cranes under uncertainties

Transactions of the Institute of Measurement and Control, Journal Year: 2024, Volume and Issue: unknown

Published: Dec. 6, 2024

In this paper, a model-free adaptive control scheme is proposed to address the problem of system performance variations due inaccurate models overhead cranes, and external disturbances. First, an fast integral terminal sliding mode controller with prespecified setting accelerate convergence surface. addition, improved form function introduced ensure high accuracy state errors, while effectively enhance response tracking accuracy. Second, nonlinear disturbance observer estimate lumped dynamics part ultra-local model, which can guarantee effective properties. Finally, stability closed-loop analyzed by means Lyapunov theory, effectiveness superiority method proved numerical simulation results.

Language: Английский

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A Predefined-Time Stability Control Method Based on Fuzzy Compensation for Euler-Lagrange Systems and Its Applications to Manipulators

Published: May 20, 2024

Language: Английский

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Sliding mode disturbance compensated speed control for PMSM based on an advanced reaching law

International Journal of Circuit Theory and Applications, Journal Year: 2024, Volume and Issue: unknown

Published: July 22, 2024

Abstract Addressing the sensitivity of permanent magnet synchronous motors to external disturbances, a novel sliding mode control (NSMC) strategy is proposed suppress jitter and enhance speed regulation performance. First, an advanced nonsingular fast terminal (ANFTSM) surface new adaptive power rate reaching law (NAPRRL) were developed. A switching function replaces conventional sign system's disturbance immunity dynamic response speed. Then, anti‐interference performance was further enhanced by introducing improved observer (INSMO) for feedback compensation aggregate disturbance. Finally, MATLAB/Simulink simulations experimental validations demonstrate that NSMC exhibits superior in both start‐up load phases, with dither resistance, rapid response, suppression capabilities.

Language: Английский

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Closed-Form Continuous-Time Neural Networks for Sliding Mode Control with Neural Gravity Compensation

Robotics, Journal Year: 2024, Volume and Issue: 13(9), P. 126 - 126

Published: Aug. 23, 2024

This study proposes the design of a robust controller based on Sliding Mode Control (SMC) structure. The proposed controller, called Closed-Form Continuous-Time Neural Networks with Gravity Compensation (SMC-CfC-G), includes development an inverse model UR5 industrial robot, which is widely used in various fields. It also gravity vector using neural networks, outperforms obtained through traditional robot modeling. To develop compensator, feedforward Multi-Layer Perceptron (MLP) network was implemented. use (CfC) networks for robot’s introduced, allowing efficient modeling robot. behavior verified under load and torque disturbances at end effector, demonstrating its robustness against variations operating conditions. adaptability ability to maintain superior performance dynamic environments are highlighted, outperforming classic SMC, Proportional-Integral-Derivative (PID), controllers. Consequently, high-precision maximum error rate approximately 1.57 mm obtained, making it useful applications requiring high accuracy.

Language: Английский

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Self-Organizing Feature Selection Fuzzy Neural Network-Based Terminal Sliding Mode Control for Uncertain Nonlinear Systems

ISA Transactions, Journal Year: 2024, Volume and Issue: unknown

Published: Sept. 1, 2024

Language: Английский

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