Transactions of the Institute of Measurement and Control,
Год журнала:
2024,
Номер
unknown
Опубликована: Дек. 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.
International Journal of Robust and Nonlinear Control,
Год журнала:
2025,
Номер
unknown
Опубликована: Апрель 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
IEEE Access,
Год журнала:
2024,
Номер
12, С. 89046 - 89054
Опубликована: Янв. 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.
Mathematics,
Год журнала:
2024,
Номер
13(1), С. 119 - 119
Опубликована: Дек. 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.
International Journal of Circuit Theory and Applications,
Год журнала:
2024,
Номер
unknown
Опубликована: Июль 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.
Robotics,
Год журнала:
2024,
Номер
13(9), С. 126 - 126
Опубликована: Авг. 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.
