Backstepping sliding mode control for combined spacecraft with nonlinear disturbance observer

2016 ◽  
Author(s):  
Han Gao ◽  
Yueyong Lv ◽  
Guangfu Ma ◽  
Chuanjiang Li
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Nonlinear Disturbance Observer ◽  
Mode Control ◽  
Backstepping Sliding Mode Control ◽  
Nonlinear Disturbance

scholarly journals Adaptive Fuzzy Backstepping Sliding Mode Control for a 3-DOF Hydraulic Manipulator with Nonlinear Disturbance Observer for Large Payload Variation

2019 ◽  
Vol 9 (16) ◽  
pp. 3290 ◽  
Author(s):  
Hoai Vu Anh Truong ◽  
Duc Thien Tran ◽  
Xuan Dinh To ◽  
Kyoung Kwan Ahn ◽  
Maolin Jin
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Nonlinear Disturbance Observer ◽  
Mode Control ◽  
Backstepping Sliding Mode Control ◽  
Hydraulic Manipulator ◽  
Nonlinear Disturbance ◽  
Payload Variation ◽  
Logic System

The paper proposes an adaptive fuzzy position control for a 3-DOF hydraulic manipulator with large payload variation. The hydraulic manipulator uses electrohydraulic actuators as primary torque generators to enhance carrying payload of the manipulator. The proposed control combines backstepping sliding mode control, fuzzy logic system (FLS), and a nonlinear disturbance observer. The backstepping sliding mode control includes a sliding mode control for manipulator dynamics and a PI control for actuator dynamics. The fuzzy logic system is utilized to adjust the control gain and robust gain of the sliding mode control (SMC) based on the output of the nonlinear disturbance observer to compensate the payload. The Lyapunov approach and backstepping technique are used to prove the stability and robustness of the whole system. Some simulations are implemented, and the results are compared to other controllers to exhibit the effectiveness of the proposed control.

Fractional-Order Backstepping Sliding-Mode Control Based on Fractional-Order Nonlinear Disturbance Observer

2018 ◽  
Vol 13 (11) ◽  
Author(s):  
Hadi Delavari ◽  
Hamid Heydarinejad
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Direct Method ◽  
Nonlinear Disturbance Observer ◽  
Mode Control ◽  
Backstepping Sliding Mode Control ◽  
Nonlinear Disturbance ◽  
Mismatched Disturbances

In this paper, a novel fractional-order (FO) backstepping sliding-mode control is proposed for a class of FO nonlinear systems with mismatched disturbances. Here the matched/mismatched disturbances are estimated by an FO nonlinear disturbance observer (NDO). This FO NDO is proposed based on FO backstepping algorithm to estimate the mismatched disturbances. The stability of the closed-loop system is proved by the new extension of Lyapunov direct method for FO systems. Exponential reaching law considerably decreases the chattering and provides a high dynamic tracking performance. Finally, three simulation examples are presented to show the features and the effectiveness of the proposed method. Results show that this observer approximates the unknown mismatched disturbances successfully.

scholarly journals Sliding mode control of the automobile electro-coating conveying mechanism with a nonlinear disturbance observer

2018 ◽  
Vol 10 (9) ◽  
pp. 168781401879574 ◽  
Author(s):  
Wei Yuan ◽  
Guoqin Gao
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
High Performance ◽  
Sliding Mode ◽  
External Disturbance ◽  
Nonlinear Disturbance Observer ◽  
Control Approach ◽  
Mode Control ◽  
Highly Nonlinear ◽  
Nonlinear Disturbance

The trajectory-tracking performance of the automobile electro-coating conveying mechanism is severely interrupted by highly nonlinear crossing couplings, unmodeled dynamics, parameter variation, friction, and unknown external disturbance. In this article, a sliding mode control with a nonlinear disturbance observer is proposed for high-accuracy motion control of the conveying mechanism. The nonlinear disturbance observer is designed to estimate not only the internal/external disturbance but also the model uncertainties. Based on the output of the nonlinear disturbance observer, a sliding mode control approach is designed for the hybrid series–parallel mechanism. Then, the stability of the closed-loop system is proved by means of a Lyapunov analysis. Finally, simulations with typical desired trajectory are presented to demonstrate the high performance of the proposed composite control scheme.

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