Frontiers of Mechanical Engineering >
Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with uncertainties
Received date: 29 Jul 2020
Accepted date: 05 Nov 2020
Published date: 15 Jun 2021
Copyright
This study proposes a gained switching-based discrete-time sliding mode control method to address the chattering issue in disturbed discrete-time systems, which suffer from various unknown uncertainties. Through the new structure of the designed reaching law, the proposed method can effectively increase the convergence speed while guaranteeing chattering-free control. The performance of controlling underactuated robotic systems can be further improved by the adoption of fuzzy logic to perform adaptive online hyper-parameter tuning. In addition, an underactuated robotic system with uncertainties is studied to validate the effectiveness of the proposed reaching law. Results reveal the dynamic performance and robustness of the proposed reaching law in the studied system and prove the proposed method’s superiority over other state-of-the-art methods.
Hui LI , Ruiqin LI , Jianwei ZHANG . Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with uncertainties[J]. Frontiers of Mechanical Engineering, 2021 , 16(2) : 353 -362 . DOI: 10.1007/s11465-020-0620-4
1 |
Pounds P, Mahony R, Corke P. Modelling and control of a quad-rotor robot. In: Proceedings of 2006 Australasian Conference on Robotics and Automation. Auckland: Australian Robotics and Automation Association, 2006
|
2 |
Weng C Y, Yuan Q, Suarez-Ruiz F,
|
3 |
Schulte H, Hahn H. Fuzzy state feedback gain scheduling control of servo-pneumatic actuators. Control Engineering Practice, 2004, 12(5): 639–650
|
4 |
Anh H P H. Online tuning gain scheduling MIMO neural PID control of the 2-axes pneumatic artificial muscle (PAM) robot arm. Expert Systems with Applications, 2010, 37(9): 6547–6560
|
5 |
Chiu C S, Lian K Y, Liu P. Fuzzy gain scheduling for parallel parking a car-like robot. IEEE Transactions on Control Systems Technology, 2005, 13(6): 1084–1092
|
6 |
Sardellitti I, Medrano-Cerda G A, Tsagarakis N,
|
7 |
d’Andréa-Novel B, Campion G, Bastin G. Control of nonholonomic wheeled mobile robots by state feedback linearization. The International Journal of Robotics Research, 1995, 14(6): 543–559
|
8 |
Chwa D. Tracking control of differential-drive wheeled mobile robots using a backstepping-like feedback linearization. IEEE Transactions on Systems, Man, and Cybernetics. Part A, Systems and Humans, 2010, 40(6): 1285–1295
|
9 |
Liu L, Liu Y J, Chen A,
|
10 |
Pan Y, Wang H, Li X,
|
11 |
Chen C P, Liu Y J, Wen G X. Fuzzy neural network-based adaptive control for a class of uncertain nonlinear stochastic systems. IEEE Transactions on Cybernetics, 2014, 44(5): 583–593
|
12 |
Liu Y J, Lu S, Tong S. Neural network controller design for an uncertain robot with time-varying output constraint. IEEE Transactions on Systems, Man, and Cybernetics. Systems, 2017, 47(8): 2060–2068
|
13 |
Wang H, Pan Y, Li S,
|
14 |
Wang H, Zhang Q, Xian J,
|
15 |
Wang Y, Jiang B, Wu Z,
|
16 |
Wang Y, Xia Y, Li H,
|
17 |
Yang J, Li S, Yu X. Sliding-mode control for systems with mismatched uncertainties via a disturbance observer. IEEE Transactions on Industrial Electronics, 2013, 60(1): 160–169
|
18 |
Feng Y, Yu X, Man Z. Non-singular terminal sliding mode control of rigid manipulators. Automatica, 2002, 38(12): 2159–2167
|
19 |
Yu S, Yu X, Shirinzadeh B,
|
20 |
Chen M S, Chen C H, Yang F Y. An LTR-observer-based dynamic sliding mode control for chattering reduction. Automatica, 2007, 43(6): 1111–1116
|
21 |
Du H, Yu X, Chen M Z,
|
22 |
Parra-Vega V, Hirzinger G. Chattering-free sliding mode control for a class of nonlinear mechanical systems. International Journal of Robust and Nonlinear Control: IFAC-Affiliated Journal, 2001, 11(12): 1161–1178
|
23 |
Gao W, Wang Y, Homaifa A. Discrete-time variable structure control systems. IEEE Transactions on Industrial Electronics, 1995, 42(2): 117–122
|
24 |
Sun J. Chattering-free sliding-mode variable structure control of delta operator system. Journal of Computational and Theoretical Nanoscience, 2014, 11(10): 2150–2156
|
25 |
Qu S, Xia X, Zhang J. Dynamics of discrete-time sliding-mode-control uncertain systems with a disturbance compensator. IEEE Transactions on Industrial Electronics, 2014, 61(7): 3502–3510
|
26 |
Veselic B, Perunicic-Drazenovic B, Milosavljevic C. High-performance position control of induction motor using discrete-time sliding-mode control. IEEE Transactions on Industrial Electronics, 2008, 55(11): 3809–3817
|
27 |
Wang J, Gao Z, Fu Y. Chattering-free discrete-time sliding mode control with event-trigger strategy. In: Proceedings of 2018 IEEE 16th International Conference on Industrial Informatics (INDIN). New York: IEEE, 2018, 629–634
|
28 |
Song L, Wen H, Yao Q. Variable rate reaching law for discrete time variable structure control systems. Journal of the Naval Academy Of Engineering, 1999, 3: 16–21
|
29 |
Yan T, Wu B, He B,
|
30 |
Sarpturk S, Istefanopulos Y, Kaynak O. On the stability of discrete-time sliding mode control systems. IEEE Transactions on Automatic Control, 1987, 32(10): 930–932
|
31 |
Nagendra S, Podila N, Ugarakhod R,
|
/
〈 | 〉 |