scholarly journals Disturbance-Observer-Based Prescribed Performance Fault-Tolerant Trajectory Tracking Control for Ocean Bottom Flying Node

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 49004-49013 ◽  
Author(s):  
Hongde Qin ◽  
Zheyuan Wu ◽  
Yanchao Sun ◽  
Hui Chen
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Fault Tolerant ◽  
Ocean Bottom ◽  
Trajectory Tracking Control ◽  
Prescribed Performance

Adaptive Sliding Mode Disturbance Observer Based Composite Trajectory Tracking Control for Robot Manipulator With Prescribed Performance

2021 ◽  
Author(s):  
Danni Shi ◽  
Jinhui Zhang ◽  
Zhongqi Sun ◽  
Yuanqing Xia
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode ◽  
Prescribed Performance ◽  
Adaptive Sliding Mode ◽  
Sliding Mode Disturbance Observer

Abstract In this paper, the problem of the composite trajectory tracking control for robot manipulator with lumped uncertainties including unmodeled dynamics and external disturbances is investigated. To achieve the active disturbance rejection, the adaptive sliding mode disturbance observer is proposed to estimate the unknown lumped uncertainties in the absence of the prior upper bound information on the lumped uncertainties. Then, by combining the non-singular terminal sliding mode control and prescribed performance control approaches, the composite trajectory tracking controller is designed, and not only the finite-time convergence of the trajectory tracking errors, but also the prescribed performances are guaranteed. Finally, by applying the proposed control scheme to a two-DOF manipulator system, the effectiveness and advantages are verified by numerical simulations.

scholarly journals Prescribed performance adaptive fault-tolerant trajectory tracking control for an ocean bottom flying node

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141984194 ◽  
Author(s):  
Hongde Qin ◽  
Zheyuan Wu ◽  
Yanchao Sun ◽  
Yushan Sun
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Tracking Error ◽  
Approximation Error ◽  
Ocean Current ◽  
Ocean Bottom ◽  
Model Uncertainties ◽  
Trajectory Tracking Control ◽  
Prescribed Performance

The ocean bottom flying node is a novel autonomous underwater vehicle that explores the oil and gas resources in deep water. Thousands of the ocean bottom flying nodes track different predefined trajectories arriving at target points in a small ocean area, respectively. A class of prescribed performance adaptive trajectory tracking control method is investigated for the ocean bottom flying node trajectory tracking problem with ocean current disturbances, model uncertainties as well as thruster faults. Based on a predefined performance function and an error transformation, the ocean bottom flying node trajectory tracking error is restricted to prespecified bounds to ensure a desired transient and steady response. Radial basis function neural network is used to approximate the general uncertainty caused by ocean current disturbances, model uncertainties, and thruster faults. Further, the upper bound of approximation error is estimated by an adaptive law. Using the adaptive laws, we propose a prescribed performance adaptive trajectory tracking controller. The simulation examples on an ocean bottom flying node system show that the proposed control scheme can compensate for the effect of the general uncertainty while obtaining the fast transient process and expected trajectory tracking accuracy.

Robust finite-time trajectory tracking control for a space manipulator with parametric uncertainties and external disturbances

2021 ◽  
pp. 095441002110147
Author(s):  
Qijia Yao
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Space Manipulator ◽  
Tracking Controller

Space manipulator is considered as one of the most promising technologies for future space activities owing to its important role in various on-orbit serving missions. In this study, a robust finite-time tracking control method is proposed for the rapid and accurate trajectory tracking control of an attitude-controlled free-flying space manipulator in the presence of parametric uncertainties and external disturbances. First, a baseline finite-time tracking controller is designed to track the desired position of the space manipulator based on the homogeneous method. Then, a finite-time disturbance observer is designed to accurately estimate the lumped uncertainties. Finally, a robust finite-time tracking controller is developed by integrating the baseline finite-time tracking controller with the finite-time disturbance observer. Rigorous theoretical analysis for the global finite-time stability of the whole closed-loop system is provided. The proposed robust finite-time tracking controller has a relatively simple structure and can guarantee the position and velocity tracking errors converge to zero in finite time even subject to lumped uncertainties. To the best of the authors’ knowledge, there are really limited existing controllers can achieve such excellent performance under the same conditions. Numerical simulations illustrate the effectiveness and superiority of the proposed control method.

Prescribed performance trajectory tracking control of dynamic positioning ship under input saturation

2020 ◽  
pp. 014233122092888
Author(s):  
Yuanhui Wang ◽  
Haibin Wang ◽  
Mingyu Fu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Input Saturation ◽  
Small Neighborhood ◽  
Performance Criteria ◽  
Dynamic Positioning ◽  
Trajectory Tracking Control ◽  
Prescribed Performance ◽  
Control Scheme

This paper investigates concentrates on the trajectory tracking control problem of dynamic positioning (DP) ship, in the presence of the time-varying disturbance and input saturation. Firstly, a simplified mathematical model of three degrees of freedom is established. According to the characteristics of the DP ship, an adaptive backstepping controller which combine the prescribed performance function with disturbance observer is proposed. The control scheme can guarantee the transient and steady state performance of the trajectory tracking and meet the prescribed performance criteria. In addition, an auxiliary dynamic system is introduced into the controller to deal with the input saturation problem of the actuator, so that the DP ship can accomplish the task of trajectory tracking under the condition of actuator constraint. Subsequently, in combination of barrier Lyapunov function (BLF), it is proved that the DP system can stabilize and converge rapidly to the small neighborhood of the equilibrium point, which can achieve the prescribed performance. Finally, the effectiveness of the DP control law is demonstrated by a series of simulation experiments.

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