Continuous finite-time control approach for series elastic actuator

2016 ◽  
Author(s):  
Meng Wang ◽  
Lei Sun ◽  
Wei Yin ◽  
Shuai Dong ◽  
Jingtai Liu
Keyword(s):  
Finite Time ◽  
Control Approach ◽  
Series Elastic Actuator ◽  
Time Control ◽  
Series Elastic

Continuous finite-time output torque control approach for series elastic actuator

2020 ◽  
Vol 139 ◽  
pp. 105853 ◽  
Author(s):  
Lei Sun ◽  
Mingyang Li ◽  
Meng Wang ◽  
Wei Yin ◽  
Ning Sun ◽  
...  
Keyword(s):  
Finite Time ◽  
Torque Control ◽  
Control Approach ◽  
Series Elastic Actuator ◽  
Output Torque ◽  
Series Elastic

Finite-Time Disturbance Observer Design and Attitude Tracking Control of a Rigid Spacecraft

2017 ◽  
Vol 139 (6) ◽  
Author(s):  
Qixun Lan ◽  
Chunjiang Qian ◽  
Shihua Li
Keyword(s):  
Finite Time ◽  
Disturbance Observer ◽  
Observer Design ◽  
Design Approach ◽  
Control Approach ◽  
Time Control ◽  
Time Simulation ◽  
Attitude Tracking ◽  
Rigid Spacecraft ◽  
Attitude Tracking Control

This paper considers the problem of finite-time disturbance observer (FTDO) design and the problem of FTDO based finite-time control for systems subject to nonvanishing disturbances. First of all, based on the homogeneous systems theory and saturation technique, a continuous FTDO design approach is proposed. Then, by using the proposed FTDO design approach, a FTDO is constructed to estimate the disturbances that exist in a rigid spacecraft system. Furthermore, based on a baseline finite-time control law and a feedforward compensation term produced by the FTDO, a composite controller is constructed for the rigid spacecraft system. It is shown that the proposed composite controller will render the rigid spacecraft track the desired attitude trajectory in a finite-time. Simulation results are included to demonstrate the effectiveness of the proposed control approach.

Fuzzy impedance-based control with fast terminal sliding mode force control loop for a series elastic actuator system

2021 ◽  
pp. 014233122110436
Author(s):  
Seyed Ali Moafi ◽  
Farid Najafi
Keyword(s):  
Force Control ◽  
Fuzzy Logic Controller ◽  
Sliding Mode ◽  
Control Loop ◽  
Terminal Sliding Mode ◽  
Control Approach ◽  
Series Elastic Actuator ◽  
Control Scheme ◽  
Fast Terminal Sliding Mode ◽  
Series Elastic

This paper proposes a robust control scheme to accomplish the interaction control problem between a series elastic actuator (SEA) and a flexible environment. The adaptability of the controller to unknown variations and robustness of the controller during interaction of the system with environment are the main aims. The control scheme is based on a fuzzy impedance control approach and consists of an inner fast terminal sliding mode force control loop. An experimental setup is designed to prove the efficiency of the developed controller. The experimental results confirm that the proposed fuzzy logic controller guarantees the sensitivity of the controlled system to unpredictable variations. Moreover, by applying the fast terminal sliding mode algorithm for the inner force control loop, the system has faster convergence to the reference path compared with similar control methods found in the literature.

Robust finite-time control approach for robotic manipulators

2010 ◽  
Vol 4 (1) ◽  
pp. 1-15 ◽  
Author(s):  
D. Zhao ◽  
F. Gao ◽  
S. Li ◽  
Q. Zhu
Keyword(s):  
Finite Time ◽  
Robotic Manipulators ◽  
Control Approach ◽  
Time Control

scholarly journals Finite-Time Stabilization for a Class of Nonlinear Differential-Algebraic Systems Subject to Disturbance

2017 ◽  
Vol 2017 ◽  
pp. 1-14 ◽  
Author(s):  
Xiaohui Mo ◽  
Huawei Niu ◽  
Qixun Lan
Keyword(s):  
Finite Time ◽  
External Disturbance ◽  
Design Procedure ◽  
Homogeneous System ◽  
Algebraic Systems ◽  
Control Approach ◽  
Adding A Power Integrator ◽  
Time Control ◽  
Finite Time Stabilization ◽  
Nominal Performance

In this paper, finite-time stabilization problem for a class of nonlinear differential-algebraic systems (NDASs) subject to external disturbance is investigated via a composite control manner. A composite finite-time controller (CFTC) is proposed with a three-stage design procedure. Firstly, based on the adding a power integrator technique, a finite-time control (FTC) law is explicitly designed for the nominal NDAS by only using differential variables. Then, by using homogeneous system theory, a continuous finite-time disturbance observer (CFTDO) is constructed to estimate the disturbance generated by an exogenous system. Finally, a composite controller which consists of a feedforward compensation part based on CFTDO and the obtained FTC law is proposed. Rigorous analysis demonstrates that not only the proposed composite controller can stabilize the NDAS in finite time, but also the proposed control scheme exhibits nominal performance recovery property. Simulation examples are provided to illustrate the effectiveness of the proposed control approach.

scholarly journals A continuous integral terminal sliding mode control approach for a class of uncertain nonlinear systems

2019 ◽  
Vol 52 (5-6) ◽  
pp. 720-728
Author(s):  
Huawei Niu ◽  
Qixun Lan ◽  
Yamei Liu ◽  
Huafeng Xu
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Control Law ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Control Approach ◽  
Mode Control ◽  
Time Control

In this article, the continuous integral terminal sliding mode control problem for a class of uncertain nonlinear systems is investigated. First of all, based on homogeneous system theory, a global finite-time control law with simple structure is proposed for a chain of integrators. Then, inspired by the proposed finite-time control law, a novel integral terminal sliding mode surface is designed, based on which an integral terminal sliding mode control law is constructed for a class of higher order nonlinear systems subject disturbances. Furthermore, a finite-time disturbance observer-based integral terminal sliding mode control law is proposed, and strict theoretical analysis shows that the composite integral terminal sliding mode control approach can eliminate chattering completely without losing disturbance attenuation ability and performance robustness of integral terminal sliding mode control. Simulation examples are given to illustrate the simplicity of the new design approach and effectiveness.

Accurate Trajectory Tracking of Disturbed Surface Vehicles: A Finite-Time Control Approach

2019 ◽  
Vol 24 (3) ◽  
pp. 1064-1074 ◽  
Author(s):  
Ning Wang ◽  
Hamid Reza Karimi ◽  
Hongyi Li ◽  
Shun-Feng Su
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Control Approach ◽  
Time Control
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