Observer-Based Design of Motion Control Systems in Sliding Mode Control Framework
This paper presents a comprehensive treatment of the complex motion control systems in the Sliding Mode Control (SMC) framework. The single and multi degrees of freedom (DOF) plants and applications to haptics and functionally related systems are discussed. The proposed algorithms are based on the a...
Gespeichert in:
| Veröffentlicht in: | IEEE access 2022, Vol.10, p.26603-26612 |
|---|---|
| Hauptverfasser: | , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 26612 |
|---|---|
| container_issue | |
| container_start_page | 26603 |
| container_title | IEEE access |
| container_volume | 10 |
| creator | Sabanovic, Asif Uzunovic, Tarik |
| description | This paper presents a comprehensive treatment of the complex motion control systems in the Sliding Mode Control (SMC) framework. The single and multi degrees of freedom (DOF) plants and applications to haptics and functionally related systems are discussed. The proposed algorithms are based on the application of the equivalent control observer and the convergence term that guaranty stability of the closed loop in a Lyapunov sense and enforces the sliding mode on selected manifolds. Presented SMC design leads to a solution that easily could be modified to include majority of the algorithms presented in the literature. |
| doi_str_mv | 10.1109/ACCESS.2022.3156643 |
| format | Article |
| fullrecord | <record><control><sourceid>proquest_ieee_</sourceid><recordid>TN_cdi_ieee_primary_9727156</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>9727156</ieee_id><doaj_id>oai_doaj_org_article_ed5c5bf7afe545de9bdd16da329d2de0</doaj_id><sourcerecordid>2639933356</sourcerecordid><originalsourceid>FETCH-LOGICAL-c358t-a3945fb6e1c65686180523e8f619d727fbc48b1a819ab935786224b4191e413</originalsourceid><addsrcrecordid>eNpNUcFOwzAMjRBITGNfsEslzh1N0qTNcZQBk4YmVO5R2rhTRteMpAPt78noNOGLLfu9Z1sPoSlOZhgn4mFeFIuynJGEkBnFjPOUXqERwVzElFF-_a--RRPvt0mIPLRYNkLv68qD-wYXPyoPOnoCbzZdZJvozfbGdlFhu97ZNiqPvoedj0wXla3RptsEhIbL_NmpHfxY93mHbhrVepic8xiVz4uP4jVerV-WxXwV15TlfayoSFlTccA1ZzznOE8YoZA3HAudkayp6jSvsMqxUJWgLMs5IWmVYoEhxXSMloOqtmor987slDtKq4z8a1i3kcr1pm5BgmY1q5pMNcBSpkFUWmOuFSVCEw1J0LoftPbOfh3A93JrD64Lx0vCqRCUUsYDig6o2lnvHTSXrTiRJyPkYIQ8GSHPRgTWdGAZALgwRHgwAOgvC--DSA</addsrcrecordid><sourcetype>Open Website</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>2639933356</pqid></control><display><type>article</type><title>Observer-Based Design of Motion Control Systems in Sliding Mode Control Framework</title><source>IEEE Open Access Journals</source><source>DOAJ Directory of Open Access Journals</source><source>EZB-FREE-00999 freely available EZB journals</source><creator>Sabanovic, Asif ; Uzunovic, Tarik</creator><creatorcontrib>Sabanovic, Asif ; Uzunovic, Tarik</creatorcontrib><description>This paper presents a comprehensive treatment of the complex motion control systems in the Sliding Mode Control (SMC) framework. The single and multi degrees of freedom (DOF) plants and applications to haptics and functionally related systems are discussed. The proposed algorithms are based on the application of the equivalent control observer and the convergence term that guaranty stability of the closed loop in a Lyapunov sense and enforces the sliding mode on selected manifolds. Presented SMC design leads to a solution that easily could be modified to include majority of the algorithms presented in the literature.</description><identifier>ISSN: 2169-3536</identifier><identifier>EISSN: 2169-3536</identifier><identifier>DOI: 10.1109/ACCESS.2022.3156643</identifier><identifier>CODEN: IAECCG</identifier><language>eng</language><publisher>Piscataway: IEEE</publisher><subject>actuators ; Aerospace electronics ; Algorithms ; Closed loops ; Control stability ; Control systems design ; Convergence ; Degrees of freedom ; Design modifications ; Force ; Manifolds ; Motion control ; motion control systems ; motion observers ; Observers ; robot control ; Sliding mode ; Sliding mode control ; Task analysis</subject><ispartof>IEEE access, 2022, Vol.10, p.26603-26612</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2022</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><cites>FETCH-LOGICAL-c358t-a3945fb6e1c65686180523e8f619d727fbc48b1a819ab935786224b4191e413</cites><orcidid>0000-0002-7979-7395 ; 0000-0002-2783-9354</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/9727156$$EHTML$$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>Sabanovic, Asif</creatorcontrib><creatorcontrib>Uzunovic, Tarik</creatorcontrib><title>Observer-Based Design of Motion Control Systems in Sliding Mode Control Framework</title><title>IEEE access</title><addtitle>Access</addtitle><description>This paper presents a comprehensive treatment of the complex motion control systems in the Sliding Mode Control (SMC) framework. The single and multi degrees of freedom (DOF) plants and applications to haptics and functionally related systems are discussed. The proposed algorithms are based on the application of the equivalent control observer and the convergence term that guaranty stability of the closed loop in a Lyapunov sense and enforces the sliding mode on selected manifolds. Presented SMC design leads to a solution that easily could be modified to include majority of the algorithms presented in the literature.</description><subject>actuators</subject><subject>Aerospace electronics</subject><subject>Algorithms</subject><subject>Closed loops</subject><subject>Control stability</subject><subject>Control systems design</subject><subject>Convergence</subject><subject>Degrees of freedom</subject><subject>Design modifications</subject><subject>Force</subject><subject>Manifolds</subject><subject>Motion control</subject><subject>motion control systems</subject><subject>motion observers</subject><subject>Observers</subject><subject>robot control</subject><subject>Sliding mode</subject><subject>Sliding mode control</subject><subject>Task analysis</subject><issn>2169-3536</issn><issn>2169-3536</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2022</creationdate><recordtype>article</recordtype><sourceid>ESBDL</sourceid><sourceid>RIE</sourceid><sourceid>DOA</sourceid><recordid>eNpNUcFOwzAMjRBITGNfsEslzh1N0qTNcZQBk4YmVO5R2rhTRteMpAPt78noNOGLLfu9Z1sPoSlOZhgn4mFeFIuynJGEkBnFjPOUXqERwVzElFF-_a--RRPvt0mIPLRYNkLv68qD-wYXPyoPOnoCbzZdZJvozfbGdlFhu97ZNiqPvoedj0wXla3RptsEhIbL_NmpHfxY93mHbhrVepic8xiVz4uP4jVerV-WxXwV15TlfayoSFlTccA1ZzznOE8YoZA3HAudkayp6jSvsMqxUJWgLMs5IWmVYoEhxXSMloOqtmor987slDtKq4z8a1i3kcr1pm5BgmY1q5pMNcBSpkFUWmOuFSVCEw1J0LoftPbOfh3A93JrD64Lx0vCqRCUUsYDig6o2lnvHTSXrTiRJyPkYIQ8GSHPRgTWdGAZALgwRHgwAOgvC--DSA</recordid><startdate>2022</startdate><enddate>2022</enddate><creator>Sabanovic, Asif</creator><creator>Uzunovic, Tarik</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/0000-0002-7979-7395</orcidid><orcidid>https://orcid.org/0000-0002-2783-9354</orcidid></search><sort><creationdate>2022</creationdate><title>Observer-Based Design of Motion Control Systems in Sliding Mode Control Framework</title><author>Sabanovic, Asif ; Uzunovic, Tarik</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c358t-a3945fb6e1c65686180523e8f619d727fbc48b1a819ab935786224b4191e413</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2022</creationdate><topic>actuators</topic><topic>Aerospace electronics</topic><topic>Algorithms</topic><topic>Closed loops</topic><topic>Control stability</topic><topic>Control systems design</topic><topic>Convergence</topic><topic>Degrees of freedom</topic><topic>Design modifications</topic><topic>Force</topic><topic>Manifolds</topic><topic>Motion control</topic><topic>motion control systems</topic><topic>motion observers</topic><topic>Observers</topic><topic>robot control</topic><topic>Sliding mode</topic><topic>Sliding mode control</topic><topic>Task analysis</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Sabanovic, Asif</creatorcontrib><creatorcontrib>Uzunovic, Tarik</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>Sabanovic, Asif</au><au>Uzunovic, Tarik</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Observer-Based Design of Motion Control Systems in Sliding Mode Control Framework</atitle><jtitle>IEEE access</jtitle><stitle>Access</stitle><date>2022</date><risdate>2022</risdate><volume>10</volume><spage>26603</spage><epage>26612</epage><pages>26603-26612</pages><issn>2169-3536</issn><eissn>2169-3536</eissn><coden>IAECCG</coden><abstract>This paper presents a comprehensive treatment of the complex motion control systems in the Sliding Mode Control (SMC) framework. The single and multi degrees of freedom (DOF) plants and applications to haptics and functionally related systems are discussed. The proposed algorithms are based on the application of the equivalent control observer and the convergence term that guaranty stability of the closed loop in a Lyapunov sense and enforces the sliding mode on selected manifolds. Presented SMC design leads to a solution that easily could be modified to include majority of the algorithms presented in the literature.</abstract><cop>Piscataway</cop><pub>IEEE</pub><doi>10.1109/ACCESS.2022.3156643</doi><tpages>10</tpages><orcidid>https://orcid.org/0000-0002-7979-7395</orcidid><orcidid>https://orcid.org/0000-0002-2783-9354</orcidid><oa>free_for_read</oa></addata></record> |
| fulltext | fulltext |
| identifier | ISSN: 2169-3536 |
| ispartof | IEEE access, 2022, Vol.10, p.26603-26612 |
| issn | 2169-3536 2169-3536 |
| language | eng |
| recordid | cdi_ieee_primary_9727156 |
| source | IEEE Open Access Journals; DOAJ Directory of Open Access Journals; EZB-FREE-00999 freely available EZB journals |
| subjects | actuators Aerospace electronics Algorithms Closed loops Control stability Control systems design Convergence Degrees of freedom Design modifications Force Manifolds Motion control motion control systems motion observers Observers robot control Sliding mode Sliding mode control Task analysis |
| title | Observer-Based Design of Motion Control Systems in Sliding Mode Control Framework |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-02-10T10%3A14%3A07IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_ieee_&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Observer-Based%20Design%20of%20Motion%20Control%20Systems%20in%20Sliding%20Mode%20Control%20Framework&rft.jtitle=IEEE%20access&rft.au=Sabanovic,%20Asif&rft.date=2022&rft.volume=10&rft.spage=26603&rft.epage=26612&rft.pages=26603-26612&rft.issn=2169-3536&rft.eissn=2169-3536&rft.coden=IAECCG&rft_id=info:doi/10.1109/ACCESS.2022.3156643&rft_dat=%3Cproquest_ieee_%3E2639933356%3C/proquest_ieee_%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=2639933356&rft_id=info:pmid/&rft_ieee_id=9727156&rft_doaj_id=oai_doaj_org_article_ed5c5bf7afe545de9bdd16da329d2de0&rfr_iscdi=true |