A Non-Singular Fast Terminal Sliding Mode Control Based on Third-Order Sliding Mode Observer for a Class of Second-Order Uncertain Nonlinear Systems and its Application to Robot Manipulators
This paper proposes a controller-observer strategy for a class of second-order uncertain nonlinear systems with only available position measurement. The third-order sliding mode observer is first introduced to estimate both velocities and the lumped uncertain terms of system with high accuracy, less...
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| Veröffentlicht in: | IEEE access 2020, Vol.8, p.78109-78120 |
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| creator | Nguyen, Van-Cuong Vo, Anh-Tuan Kang, Hee-Jun |
| description | This paper proposes a controller-observer strategy for a class of second-order uncertain nonlinear systems with only available position measurement. The third-order sliding mode observer is first introduced to estimate both velocities and the lumped uncertain terms of system with high accuracy, less chattering, and finite time convergency of estimation errors. Then, the proposed controller-observer strategy is designed based on non-singular fast terminal sliding mode sliding control and proposed observer. Thanks to this combination, the proposed strategy has some superior properties such as high tracking accuracy, chattering phenomenon reduction, robustness against the effects of the lumped uncertain terms, velocity measurement elimination, finite time convergence, and faster reaching sliding motion. Especially, two period times, before and after the convergence of the velocity estimation takes place, are considered. The finite time stability of proposed controller-observer method is proved by using the Lyapunov stability theory. Final, the proposed strategy is applied to robot manipulator system and its effectiveness is verified by simulation results, in which a PUMA560 robot manipulator is employed. |
| doi_str_mv | 10.1109/ACCESS.2020.2989613 |
| format | Article |
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The third-order sliding mode observer is first introduced to estimate both velocities and the lumped uncertain terms of system with high accuracy, less chattering, and finite time convergency of estimation errors. Then, the proposed controller-observer strategy is designed based on non-singular fast terminal sliding mode sliding control and proposed observer. Thanks to this combination, the proposed strategy has some superior properties such as high tracking accuracy, chattering phenomenon reduction, robustness against the effects of the lumped uncertain terms, velocity measurement elimination, finite time convergence, and faster reaching sliding motion. Especially, two period times, before and after the convergence of the velocity estimation takes place, are considered. The finite time stability of proposed controller-observer method is proved by using the Lyapunov stability theory. Final, the proposed strategy is applied to robot manipulator system and its effectiveness is verified by simulation results, in which a PUMA560 robot manipulator is employed.</description><identifier>ISSN: 2169-3536</identifier><identifier>EISSN: 2169-3536</identifier><identifier>DOI: 10.1109/ACCESS.2020.2989613</identifier><identifier>CODEN: IAECCG</identifier><language>eng</language><publisher>Piscataway: IEEE</publisher><subject>Control stability ; Control systems design ; controller-observer strategy ; Controllers ; Convergence ; Estimation error ; Manipulators ; non-singular fast terminal sliding mode control ; Nonlinear systems ; Observers ; Position measurement ; Robot arms ; robot manipulators ; Robots ; Sliding mode control ; Strategy ; third-order sliding mode observer ; Uncertain nonlinear systems ; Uncertainty ; uncertainty compensation ; Velocity measurement</subject><ispartof>IEEE access, 2020, Vol.8, p.78109-78120</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2020</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c408t-59452cdddda9f84e899f4d5b18f45ece5e2d8cfe61435fab3d20b53d6aef8d5c3</citedby><cites>FETCH-LOGICAL-c408t-59452cdddda9f84e899f4d5b18f45ece5e2d8cfe61435fab3d20b53d6aef8d5c3</cites><orcidid>0000-0001-9121-5442 ; 0000-0002-1991-6970 ; 0000-0002-9361-3919</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/9076658$$EHTML$$P50$$Gieee$$Hfree_for_read</linktohtml><link.rule.ids>314,776,780,860,2096,4010,27610,27900,27901,27902,54908</link.rule.ids></links><search><creatorcontrib>Nguyen, Van-Cuong</creatorcontrib><creatorcontrib>Vo, Anh-Tuan</creatorcontrib><creatorcontrib>Kang, Hee-Jun</creatorcontrib><title>A Non-Singular Fast Terminal Sliding Mode Control Based on Third-Order Sliding Mode Observer for a Class of Second-Order Uncertain Nonlinear Systems and its Application to Robot Manipulators</title><title>IEEE access</title><addtitle>Access</addtitle><description>This paper proposes a controller-observer strategy for a class of second-order uncertain nonlinear systems with only available position measurement. The third-order sliding mode observer is first introduced to estimate both velocities and the lumped uncertain terms of system with high accuracy, less chattering, and finite time convergency of estimation errors. Then, the proposed controller-observer strategy is designed based on non-singular fast terminal sliding mode sliding control and proposed observer. Thanks to this combination, the proposed strategy has some superior properties such as high tracking accuracy, chattering phenomenon reduction, robustness against the effects of the lumped uncertain terms, velocity measurement elimination, finite time convergence, and faster reaching sliding motion. Especially, two period times, before and after the convergence of the velocity estimation takes place, are considered. The finite time stability of proposed controller-observer method is proved by using the Lyapunov stability theory. Final, the proposed strategy is applied to robot manipulator system and its effectiveness is verified by simulation results, in which a PUMA560 robot manipulator is employed.</description><subject>Control stability</subject><subject>Control systems design</subject><subject>controller-observer strategy</subject><subject>Controllers</subject><subject>Convergence</subject><subject>Estimation error</subject><subject>Manipulators</subject><subject>non-singular fast terminal sliding mode control</subject><subject>Nonlinear systems</subject><subject>Observers</subject><subject>Position measurement</subject><subject>Robot arms</subject><subject>robot manipulators</subject><subject>Robots</subject><subject>Sliding mode control</subject><subject>Strategy</subject><subject>third-order sliding mode observer</subject><subject>Uncertain nonlinear systems</subject><subject>Uncertainty</subject><subject>uncertainty compensation</subject><subject>Velocity measurement</subject><issn>2169-3536</issn><issn>2169-3536</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2020</creationdate><recordtype>article</recordtype><sourceid>ESBDL</sourceid><sourceid>RIE</sourceid><sourceid>DOA</sourceid><recordid>eNpVUV1r3DAQNKWFhiS_IC-CPvsqWx8nP15N0gaSHtSXZyFLq1SHT3IlXSF_Lr-tujgN7b5IzO7MLDtVddXgVdPg7vOm76-HYdXiFq_aTnS8Ie-qs7bhXU0Y4e__-X-sLlPa41KiQGx9Vj1v0Pfg68H5x-OkIrpRKaMdxIPzakLD5EzpoPtgAPXB5xgm9EUlMCh4tPvpoqm30UD8f3I7Joi_C2pDRAr1k0oJBYsG0MH_ZTx4DTEr508LTM5DcR-eUoZDQsob5HJCm3menFbZFbcc0I8whozulXdzWTaHmC6qD1ZNCS5f3_Pq4eZ613-r77Zfb_vNXa0pFrlmHWWtNqVUZwUF0XWWGjY2wlIGGhi0RmgLvKGEWTUS0-KREcMVWGGYJufV7aJrgtrLObqDik8yKCdfgBAfpYrZ6QmkxtquiVlzzTnllI0WE85gPF0dBDNF69OiNcfw6wgpy304xnLuJFvKKO4IF6JMkWVKx5BSBPvm2mB5yl0uuctT7vI198K6WlgOAN4YHV5zzgT5A2zcrGY</recordid><startdate>2020</startdate><enddate>2020</enddate><creator>Nguyen, Van-Cuong</creator><creator>Vo, Anh-Tuan</creator><creator>Kang, Hee-Jun</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>ESBDL</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7SR</scope><scope>8BQ</scope><scope>8FD</scope><scope>JG9</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>DOA</scope><orcidid>https://orcid.org/0000-0001-9121-5442</orcidid><orcidid>https://orcid.org/0000-0002-1991-6970</orcidid><orcidid>https://orcid.org/0000-0002-9361-3919</orcidid></search><sort><creationdate>2020</creationdate><title>A Non-Singular Fast Terminal Sliding Mode Control Based on Third-Order Sliding Mode Observer for a Class of Second-Order Uncertain Nonlinear Systems and its Application to Robot Manipulators</title><author>Nguyen, Van-Cuong ; Vo, Anh-Tuan ; Kang, Hee-Jun</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c408t-59452cdddda9f84e899f4d5b18f45ece5e2d8cfe61435fab3d20b53d6aef8d5c3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2020</creationdate><topic>Control stability</topic><topic>Control systems design</topic><topic>controller-observer strategy</topic><topic>Controllers</topic><topic>Convergence</topic><topic>Estimation error</topic><topic>Manipulators</topic><topic>non-singular fast terminal sliding mode control</topic><topic>Nonlinear systems</topic><topic>Observers</topic><topic>Position measurement</topic><topic>Robot arms</topic><topic>robot manipulators</topic><topic>Robots</topic><topic>Sliding mode control</topic><topic>Strategy</topic><topic>third-order sliding mode observer</topic><topic>Uncertain nonlinear systems</topic><topic>Uncertainty</topic><topic>uncertainty compensation</topic><topic>Velocity measurement</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Nguyen, Van-Cuong</creatorcontrib><creatorcontrib>Vo, Anh-Tuan</creatorcontrib><creatorcontrib>Kang, Hee-Jun</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE Open Access Journals</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Engineered Materials Abstracts</collection><collection>METADEX</collection><collection>Technology Research Database</collection><collection>Materials Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>DOAJ Directory of Open Access Journals</collection><jtitle>IEEE access</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Nguyen, Van-Cuong</au><au>Vo, Anh-Tuan</au><au>Kang, Hee-Jun</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>A Non-Singular Fast Terminal Sliding Mode Control Based on Third-Order Sliding Mode Observer for a Class of Second-Order Uncertain Nonlinear Systems and its Application to Robot Manipulators</atitle><jtitle>IEEE access</jtitle><stitle>Access</stitle><date>2020</date><risdate>2020</risdate><volume>8</volume><spage>78109</spage><epage>78120</epage><pages>78109-78120</pages><issn>2169-3536</issn><eissn>2169-3536</eissn><coden>IAECCG</coden><abstract>This paper proposes a controller-observer strategy for a class of second-order uncertain nonlinear systems with only available position measurement. The third-order sliding mode observer is first introduced to estimate both velocities and the lumped uncertain terms of system with high accuracy, less chattering, and finite time convergency of estimation errors. Then, the proposed controller-observer strategy is designed based on non-singular fast terminal sliding mode sliding control and proposed observer. Thanks to this combination, the proposed strategy has some superior properties such as high tracking accuracy, chattering phenomenon reduction, robustness against the effects of the lumped uncertain terms, velocity measurement elimination, finite time convergence, and faster reaching sliding motion. Especially, two period times, before and after the convergence of the velocity estimation takes place, are considered. The finite time stability of proposed controller-observer method is proved by using the Lyapunov stability theory. Final, the proposed strategy is applied to robot manipulator system and its effectiveness is verified by simulation results, in which a PUMA560 robot manipulator is employed.</abstract><cop>Piscataway</cop><pub>IEEE</pub><doi>10.1109/ACCESS.2020.2989613</doi><tpages>12</tpages><orcidid>https://orcid.org/0000-0001-9121-5442</orcidid><orcidid>https://orcid.org/0000-0002-1991-6970</orcidid><orcidid>https://orcid.org/0000-0002-9361-3919</orcidid><oa>free_for_read</oa></addata></record> |
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| subjects | Control stability Control systems design controller-observer strategy Controllers Convergence Estimation error Manipulators non-singular fast terminal sliding mode control Nonlinear systems Observers Position measurement Robot arms robot manipulators Robots Sliding mode control Strategy third-order sliding mode observer Uncertain nonlinear systems Uncertainty uncertainty compensation Velocity measurement |
| title | A Non-Singular Fast Terminal Sliding Mode Control Based on Third-Order Sliding Mode Observer for a Class of Second-Order Uncertain Nonlinear Systems and its Application to Robot Manipulators |
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