Sliding mode control of direct drive robot using fuzzy disturbance estimation

2002 ◽  
Author(s):  
A. Rojko ◽  
K. Jezernik
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Direct Drive ◽  
Disturbance Estimation ◽  
Mode Control

Fuzzy adaptive sliding mode control of a direct drive robot

1996 ◽  
Vol 19 (2) ◽  
pp. 215-227 ◽  
Author(s):  
Kemalettin Erbatur ◽  
Okyay Kaynak ◽  
Asif Sabanovic ◽  
Imre Rudas
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Direct Drive ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Fuzzy Adaptive

Design of super twisting sliding mode control for single axis direct drive motor

2016 ◽  
Author(s):  
Chiew Tsung Heng ◽  
Zamberi Jamaludin ◽  
Ahmad Yusairi Bani Hashim ◽  
Nur Aidawaty Rafan ◽  
Lokman Abdullah
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Direct Drive ◽  
Mode Control ◽  
Drive Motor

Second Order Sliding Mode Control of Direct-Drive Ring Permanent Magnet Torque Motor

2011 ◽  
Vol 383-390 ◽  
pp. 5964-5971 ◽  
Author(s):  
Yi Biao Sun ◽  
Ya Nan Jing ◽  
Jia Kuan Xia
Keyword(s):  
Sliding Mode Control ◽  
Permanent Magnet ◽  
Sliding Mode ◽  
Servo System ◽  
Second Order ◽  
Continuous Control ◽  
Direct Drive ◽  
Mode Control ◽  
Twisting Algorithm ◽  
Second Order Sliding Mode

The direct-drive ring permanent magnet torque motor is easily affected by parameters changes and the load torque disturbances, which reduces the servo performance of the system. In order to enhance the robustness of the servo system, the super twisting algorithm based on the second order sliding mode control (SMC) is proposed as the speed controller of the direct-drive servo system. The super twisting algorithm need not know the information of the sliding mode time derivative, which through the continuous control measure the sliding mode and its derivative approach zero in finite time. This method not only guarantees the robustness of the servo system and eliminates chatting, but also enhances the static precision of the servo system. The simulation results show that the servo system of the direct-drive NC rotary table has a very strong robustness by adopting the control method against parameters changes and the external disturbances.

scholarly journals New adaptive sliding mode control for a mismatched second-order system using an extended disturbance observer

2018 ◽  
Vol 41 (1) ◽  
pp. 276-284 ◽  
Author(s):  
Jianguo Guo ◽  
Yuchao Liu ◽  
Jun Zhou
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Second Order ◽  
Adaptive Sliding Mode Control ◽  
Order System ◽  
Adaptive Sliding Mode ◽  
Disturbance Estimation ◽  
Mode Control ◽  
Mismatched Disturbance

An adaptive sliding mode control (ASMC) approach for a second-order system based on an extended disturbance observer (EDO) is proposed in this paper for systems with mismatched uncertainties. The EDO-based ASMC method is investigated to eliminate the effect of mismatched disturbance by using a novel adaptive sliding surface consisting of the disturbance estimation. The proposed method exhibits the following two attractive features: Firstly, the proposed adaptive sliding mode with disturbance estimation is insensitive to the mismatched disturbance; that is, the asymptotical stability of the adaptive sliding mode can be guaranteed in the presence of the disturbance estimation error of the EDO. Secondly, the chattering in traditional sliding mode control methods is eliminated by using an adaptive term the adaptive parameter. Compared with the disturbance-observer-based sliding mode control and the EDO-based modified sliding mode control method, numerical simulation results and application examples show that the proposed approach is robust, has the best dynamic performance and eliminates chattering.

scholarly journals Disturbance Observer-Based Chattering-Attenuated Terminal Sliding Mode Control for Nonlinear Systems Subject to Matched and Mismatched Disturbances

2021 ◽  
Vol 11 (17) ◽  
pp. 8158
Author(s):  
Duc Giap Nguyen ◽  
Duc Thien Tran ◽  
Kyoung Kwan Ahn
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Target System ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Disturbance Estimation ◽  
Mode Control ◽  
Mismatched Disturbances

This work presents a new disturbance observer-based chattering-attenuated terminal sliding mode control for a class of nonlinear systems in the presence of both mismatched and matched disturbances. A nonlinear disturbance observer is typically employed to accurately estimate mismatched disturbances. In this study, a terminal sliding mode control was designed, based on the disturbance estimation results, to counter the effects of disturbances and ultimately stabilize the target system. The utilization of a chattering-attenuated full-order terminal sliding mode structure satisfactorily resolves both chattering and singularity problems in controller design. It was shown by theoretical analyses that both the disturbance estimation error and the system state converge to the equilibrium point in finite time. Two simulation studies, namely a numerical example and an application to an electro hydrostatic actuator system, were conducted to examine the characteristics and to verify the effectiveness of the proposed algorithm.

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