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Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0753-3

Abstract: collision-free trajectory tracking of the four-wheeled mobile robot (FMR), existing methods resolve the tracking controlTo address this challenge, this paper proposes an obstacle-circumventing adaptive control (OCAC) frameworkSpecifically, a novel anti-disturbance terminal slide mode control with adaptive gains is formulated,incorporating specified control laws for different stages.

Keywords： four-wheeled mobile robot     obstacle-circumventing adaptive control     adaptive anti-disturbance terminalsliding mode control     sub-target dynamic tracking regression obstacle avoidance    

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An adaptive sliding mode control technology for weld seam tracking

Jie LIU,Youmin HU,Bo WU,Kaibo ZHOU,Mingfeng GE

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 1,   Pages 95-101 doi: 10.1007/s11465-015-0332-3

Abstract:

A novel adaptive sliding mode control algorithm is derived to deal with seam tracking control problemalgorithm enables better high-precision tracking performance with chattering-free than traditional slidingmode control algorithm under various disturbances.

Keywords： weld seam tracking     welding robotic manipulator     adaptive control     sliding mode control    

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Research on the control systems of a precision linear motor drive device

YAN Han, WANG Xian-kui, DUAN Guang-hong

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3,   Pages 260-264 doi: 10.1007/s11465-006-0036-9

Abstract: In order to enhance the tracking and anti-disturbance performance of the system, its third-order modelis established, and disturbance-observer based input revising feedforward error compensation robustcontrol algorithm, combined with integral-separated proportional integral derivative (PID) control algorithmThis includes feedback control algorithm and feedforward control algorithm.precision of PLMDD from ±5 μm to ±2 μm and dramatically improves its anti-disturbance ability.

Keywords： feedforward     tracking     ±5     anti-disturbance performance     algorithm    

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Robust SVM-direct torque control of induction motor based on sliding mode controller and sliding mode

Abdelkarim AMMAR,Amor BOUREK,Abdelhamid BENAKCHA

Frontiers in Energy 2020, Volume 14, Issue 4,   Pages 836-849 doi: 10.1007/s11708-017-0444-z

Abstract: This paper proposes a design of control and estimation strategy for induction motor based on the variableIt describes a coupling of sliding mode direct torque control (DTC) with sliding mode flux and speedThis algorithm uses direct torque control basics and the sliding mode approach.The sliding mode controller is used to generate reference voltages in stationary frame and give themThe second aim of this paper is to design a sliding mode speed/flux observer which can improve the control

Keywords： induction motor     direct torque control (DTC)     space vector modulation (SVM)     sliding mode control (SMC)     sliding mode observer (SMO)     dS1104    

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Adaptive fuzzy integral sliding mode velocity control for the cutting system of a trench cutter

Qi-yan Tian, Jian-hua Wei, Jin-hui Fang, Kai Guo,jhfang@zju.edu.cn

Frontiers of Information Technology & Electronic Engineering 2016, Volume 17, Issue 1,   Pages 55-66 doi: 10.1631/FITEE.15a0160

Abstract: The model combines the robust characteristics of an integral sliding mode controller with the adaptiveadjusting characteristics of an adaptive fuzzy controller.The stability of the whole system including the fuzzy inference system, integral sliding mode controller

Keywords： Cutting system     Electro-hydraulic system     Cutting velocity control     Adaptive fuzzy integral sliding modecontrol    

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Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with

Hui LI, Ruiqin LI, Jianwei ZHANG

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2,   Pages 353-362 doi: 10.1007/s11465-020-0620-4

Abstract: This study proposes a gained switching-based discrete-time sliding mode control method to address thethe proposed method can effectively increase the convergence speed while guaranteeing chattering-free controlcontrolling underactuated robotic systems can be further improved by the adoption of fuzzy logic to perform adaptive

Keywords： sliding-mode control     robot control     discrete-time uncertain systems     fuzzy logic    

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DFIG sliding mode control fed by back-to-back PWM converter with DC-link voltage control for variable

Youcef BEKAKRA,Djilani BEN ATTOUS

Frontiers in Energy 2014, Volume 8, Issue 3,   Pages 345-354 doi: 10.1007/s11708-014-0330-x

Abstract: This paper proposes an indirect power control of doubly fed induction generator (DFIG) with the rotorAn original control strategy based on a variable structure control theory, also called sliding mode control, is applied to achieve the control of the active and reactive power exchanged between the stator of

Keywords： fed induction generator (DFIG)     wind turbine     back-to-back pulse width modulation (PWM)     DC-link voltage     slidingmode control    

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Output tracking control of mobile manipulators based on dynamical sliding-mode control

WUYuxiang, FENG Ying, HU Yueming

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 1,   Pages 110-115 doi: 10.1007/s11465-007-0019-5

Abstract: A dynamical sliding-mode controller is devised to track the output of mobile manipulators.Moreover, a design method of the dynamical sliding-mode controller that is applied to the output trackingThe simulation results indicate that the dynamical sliding-mode controller can not only track the giventrajectory correctly but also reduce the chattering of sliding-mode control system considerably.

Keywords： lower-dimensional     nonlinear     trajectory     tracking     diffeomorphism    

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Finite-time leader-follower consensus of a discrete-time system via sliding mode control Research Article

Ruizhuo SONG, Shi XING, Zhen XU

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 7,   Pages 1057-1068 doi: 10.1631/FITEE.2100565

Abstract: Our adaptive controller is designed using the traditional sliding mode reaching law, and its advantages

Keywords： Finite-time     Leader-follower consensus     Adaptive sliding mode control     Multi-agent systems    

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Extension Controller Design via Sliding Mode Control

Chen Jenyang,Wong Chingchang

Strategic Study of CAE 2001, Volume 3, Issue 9,   Pages 48-51

Abstract:

In this paper, a novel extension controller based on the scheme of sliding mode control is investigatedOne part is the equivalent control of sliding mode control.The other part is the well-known robust control.This control term is used to compensate the system uncertainty and external disturbance.By integrating the essential concept of extension set theory with the sliding mode control , the robust

Keywords： extension set     extension control     sliding mode control     system stability    

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Application of direct adaptive fuzzy slidingmode control into a class of non-affine discrete nonlinear Article

Xiao-yu ZHANG

Frontiers of Information Technology & Electronic Engineering 2016, Volume 17, Issue 12,   Pages 1331-1343 doi: 10.1631/FITEE.1500318

Abstract: Direct adaptive fuzzy sliding mode control design for discrete non-affine nonlinear systems is presentedfor trajectory tracking problems with disturbance.To obtain adaptiveness and eliminate chattering of sliding mode control, a dynamic fuzzy logical systemStability of the sliding mode control is validated using the Lyapunov analysis theory.The overall system is adaptive, asymptotically stable, and chattering-free.

Keywords： Nonlinear system     Discrete system     Dynamic fuzzy logical system     Direct adaptive     Sliding mode control    

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Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

Jianyong YAO

Frontiers of Mechanical Engineering 2018, Volume 13, Issue 2,   Pages 179-210 doi: 10.1007/s11465-018-0464-3

Abstract: >Hydraulic servo system plays a significant role in industries, and usually acts as a core point in controluncertainty in hydraulic system is a major challenge, which includes parametric uncertainty and time-varying disturbancerequirements also arise ad hoc difficulties such as nonlinear friction during low velocity tracking, severe disturbance, periodic disturbance, etc.; to handle various challenges, nonlinear solutions including parameter adaptation, nonlinear robust control, state and disturbance observation, backstepping design and so on, are proposed

Keywords： hydraulic servo system     adaptive control     robust control     nonlinear friction     disturbance compensation     repetitivecontrol     noise alleviation     constraint control    

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High-gain Sliding Mode Output Tracking for Nonlinear Systems

Wang Xinhua,Chen Zengqiang,Yuan Zhuzhi

Strategic Study of CAE 2004, Volume 6, Issue 2,   Pages 38-43

Abstract: Moreover, a continuously high-gain sliding mode controller is presented by using a sliding mode state

Keywords： nonlinear systems     external dynamics     internal dynamics     sliding mode control     robustness    

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Study on anti-sliding stability of hydraulic structures on subbed soils

Zhou Junliang

Strategic Study of CAE 2010, Volume 12, Issue 3,   Pages 4-14

Abstract:

To make a study on the anti-sliding stablity of foundation of hydraulicstructures on subbed soils, and based on the result by anti-sliding tests of dragged concreting clipplates in foundation pits, the anti-sliding stablity of foundation on subbed soils was determind.It is worked out a design method to determine the sliding frictional resistances and the forms of slidingstructure;a formula for the the anti-sliding move of subbed soils and a rule to distinguish the plane

Keywords： anti-sliding test of dragged concreting clip plates     the forms of the largest displacement and slidingmove     anti-sliding friction coefficient     design and calculation wethod    

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Intelligent fractional-order integral sliding mode control for PMSM based on an improved cascade observer Research Articles

Lingfei XIAO, Leiming MA, Xinhao HUANG,lfxiao@nuaa.edu.cn

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 2,   Pages 328-338 doi: 10.1631/FITEE.2000317

Abstract: In this paper, an intelligent control (FOISMC) strategy based on an improved cascade is proposed.First, an FOISMC strategy is designed to control a .The proposed combines an adaptive sliding mode and an extended high-gain .the strategy is tested using simulations and an experiment involving model uncertainty and external disturbance

Keywords： Permanent magnet synchronous motor     Fractional-order integral sliding mode     Optimization algorithm     Sensorlesscontrol     Observer    

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Title Author Date Type Operation

Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

Journal Article

An adaptive sliding mode control technology for weld seam tracking

Jie LIU,Youmin HU,Bo WU,Kaibo ZHOU,Mingfeng GE

Journal Article

Research on the control systems of a precision linear motor drive device

YAN Han, WANG Xian-kui, DUAN Guang-hong

Journal Article

Robust SVM-direct torque control of induction motor based on sliding mode controller and sliding mode

Abdelkarim AMMAR,Amor BOUREK,Abdelhamid BENAKCHA

Journal Article

Adaptive fuzzy integral sliding mode velocity control for the cutting system of a trench cutter

Qi-yan Tian, Jian-hua Wei, Jin-hui Fang, Kai Guo,jhfang@zju.edu.cn

Journal Article

Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with

Hui LI, Ruiqin LI, Jianwei ZHANG

Journal Article

DFIG sliding mode control fed by back-to-back PWM converter with DC-link voltage control for variable

Youcef BEKAKRA,Djilani BEN ATTOUS

Journal Article

Output tracking control of mobile manipulators based on dynamical sliding-mode control

WUYuxiang, FENG Ying, HU Yueming

Journal Article

Finite-time leader-follower consensus of a discrete-time system via sliding mode control

Ruizhuo SONG, Shi XING, Zhen XU

Journal Article

Extension Controller Design via Sliding Mode Control

Chen Jenyang,Wong Chingchang

Journal Article

Application of direct adaptive fuzzy slidingmode control into a class of non-affine discrete nonlinear

Xiao-yu ZHANG

Journal Article

Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

Jianyong YAO

Journal Article

High-gain Sliding Mode Output Tracking for Nonlinear Systems

Wang Xinhua,Chen Zengqiang,Yuan Zhuzhi

Journal Article

Study on anti-sliding stability of hydraulic structures on subbed soils

Zhou Junliang

Journal Article

Intelligent fractional-order integral sliding mode control for PMSM based on an improved cascade observer

Lingfei XIAO, Leiming MA, Xinhao HUANG,lfxiao@nuaa.edu.cn

Journal Article