Fast Terminal Sliding Control of Underactuated Robotic Systems Based on Disturbance Observer with Experimental Validation

In this study, a novel fast terminal sliding mode control technique based on the disturbance observer is recommended for the stabilization of underactuated robotic systems. The finite time disturbance observer is employed to estimate the exterior disturbances of the system and develop the finite time control law. The proposed controller can regulate the state trajectories of the underactuated systems to the origin within a finite time in the existence of external disturbances. The stability analysis of the proposed control scheme is verified via the Lyapunov stabilization theory. The designed control law is enough to drive a switching surface achieving the fast terminal sliding mode against severe model nonlinearities with large parametric uncertainties and external disturbances. Illustrative simulation results and experimental validations on a cart-inverted pendulum system are provided to display the success and efficacy of the offered method.

[1]  John E. Mottershead,et al.  Robust passivity-based continuous sliding-mode control for under-actuated nonlinear wing sections , 2017 .

[2]  Liang Yang,et al.  Nonsingular fast terminal sliding‐mode control for nonlinear dynamical systems , 2011 .

[3]  Junlin Xiong,et al.  Boundedness of discretised non-linear systems under fast terminal sliding mode control , 2016 .

[4]  D. D. Diego,et al.  Optimal control of underactuated mechanical systems: A geometric approach , 2009, 0912.2033.

[5]  Xin Xin,et al.  A Set-Point Control for a Two-link Underactuated Robot With a Flexible Elbow Joint , 2013 .

[6]  Hasan Komurcugil,et al.  Time-varying sliding-coefficient-based decoupled terminal sliding-mode control for a class of fourth-order systems. , 2014, ISA transactions.

[7]  Phannipa Kabcome,et al.  A Comparison of Robust Criteria for Vehicle Routing Problem with Soft Time Windows , 2019, Int. J. Math. Math. Sci..

[8]  Dongbin Zhao,et al.  Design of a stable sliding-mode controller for a class of second-order underactuated systems , 2004 .

[9]  Sung Jin Yoo,et al.  Guaranteed performance design for distributed bounded containment control of networked uncertain underactuated surface vessels , 2017, J. Frankl. Inst..

[10]  Qudrat Khan,et al.  A Comparative Experimental Study of Robust Sliding Mode Control Strategies for Underactuated Systems , 2018, IEEE Access.

[11]  S. Janardhanan,et al.  Configuration Control of Planar Underactuated Robotic Manipulator using Terminal Sliding Mode , 2016 .

[12]  He Chen,et al.  A New Antiswing Control Method for Underactuated Cranes With Unmodeled Uncertainties: Theoretical Design and Hardware Experiments , 2015, IEEE Transactions on Industrial Electronics.

[13]  Juntao Fei,et al.  Adaptive control of MEMS gyroscope using global fast terminal sliding mode control and fuzzy-neural-network , 2014 .

[14]  Johari Halim Shah Osman,et al.  A class of proportional-integral sliding mode control with application to active suspension system , 2004, Syst. Control. Lett..

[15]  Lina Geng,et al.  Fast nonsingular integral terminal sliding mode control for nonlinear dynamical systems , 2014, CDC.

[16]  Ranjit Kumar Barai,et al.  Design of Nonlinear State Feedback Control Law for Underactuated Two-Link Planar Robot: A Block Backstepping Approach , 2013, AIR '13.

[17]  Zhenwei Cao,et al.  Cascaded-Extended-State-Observer-Based Sliding-Mode Control for Underactuated Flexible Joint Robot , 2020, IEEE Transactions on Industrial Electronics.

[18]  Tieshan Li,et al.  Adaptive Terminal Sliding Mode Control for Formations of Underactuated Vessels , 2016, ICCSIP.

[19]  Pascal Morin,et al.  Stabilization of a class of underactuated vehicles with uncertain position measurements and application to visual servoing , 2017, Autom..

[20]  R. K. Patnaik,et al.  Adaptive terminal sliding mode power control of DFIG based wind energy conversion system for stability enhancement , 2016 .

[21]  Sajad Jafari,et al.  Robust finite-time synchronization of a class of chaotic systems via adaptive global sliding mode control , 2018 .

[22]  Jeang-Lin Chang,et al.  Dynamic output feedback integral sliding mode control design for uncertain systems , 2012 .

[23]  H. Harry Asada,et al.  Nonlinear Feedback Control of a Gravity-Assisted Underactuated Manipulator With Application to Aircraft Assembly , 2009, IEEE Transactions on Robotics.

[24]  Ali T. Hasan.  Under-Actuated Robot Manipulator Positioning Control Using Artificial Neural Network Inversion Technique , 2012, Adv. Artif. Intell..

[25]  Wei Zeng,et al.  Learning from adaptive neural network control of an underactuated rigid spacecraft , 2015, Neurocomputing.

[26]  Anoshirvan Farshidianfar,et al.  Trajectory tracking of under-actuated nonlinear dynamic robots: Adaptive fuzzy hierarchical terminal sliding-mode control , 2016 .

[27]  Jin Hongzhang,et al.  Trajectory tracking for underactuated UUV using terminal sliding mode control , 2016, 2016 Chinese Control and Decision Conference (CCDC).

[28]  Yuri B. Shtessel,et al.  Sliding mode control with gain adaptation—Application to an electropneumatic actuator , 2013 .

[29]  Gordon Cheng,et al.  Passivity-based control of underactuated biped robots within hybrid zero dynamics approach , 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

[30]  Sami El-Ferik,et al.  Adaptive sliding-mode cluster space control of a non-holonomic multi-robot system with applications , 2017 .

[31]  Yashar Shabbouei Hagh,et al.  Robust control by adaptive Non-singular Terminal Sliding Mode , 2017, Eng. Appl. Artif. Intell..

[32]  Jialu Du,et al.  Global fast terminal sliding mode control for robotic manipulators , 2006, Int. J. Model. Identif. Control..

[33]  Chih-Chen Yih,et al.  Robust Flight Control of an Underactuated Quadrotor via Sliding Modes , 2017 .

[34]  E. Moulay,et al.  Finite time stability and stabilization of a class of continuous systems , 2006 .

[35]  Humaira Afzal,et al.  Adaptive Sliding Mode Based Stabilization Control for the Class of Underactuated Mechanical Systems , 2021, IEEE Access.

[36]  Ning Sun,et al.  An increased coupling-based control method for underactuated crane systems: theoretical design and experimental implementation , 2012 .

[37]  Rogelio Lozano,et al.  Chattering-Free Sliding Mode Altitude Control for a Quad-Rotor Aircraft: Real-Time Application , 2014, J. Intell. Robotic Syst..

[38]  Luis T. Aguilar,et al.  Discontinuous H∞ control of underactuated mechanical systems with friction and backlash , 2016 .

[39]  Maolin Jin,et al.  A New Adaptive Sliding-Mode Control Scheme for Application to Robot Manipulators , 2016, IEEE Transactions on Industrial Electronics.

[40]  Sung Jin Yoo,et al.  Nonlinear-Observer-Based Design Approach for Adaptive Event-Driven Tracking of Uncertain Underactuated Underwater Vehicles , 2021 .

[41]  Li Li,et al.  Disturbance-observer-based antiswing control of underactuated crane systems via terminal sliding mode , 2018 .

[42]  En-Hui Zheng,et al.  Quad-rotor unmanned helicopter control via novel robust terminal sliding mode controller and under-actuated system sliding mode controller , 2014 .

[43]  Zhihong Man,et al.  Multi‐surface sliding control for fast finite‐time leader–follower consensus with high order SISO uncertain nonlinear agents , 2014 .

[44]  Ronald S. Fearing,et al.  Control experiments on an underactuated robot with application to legged locomotion , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[45]  Zheping Yan,et al.  Diving control of underactuated unmanned undersea vehicle using integral-fast terminal sliding mode control , 2016 .

[46]  Kamal Youcef-Toumi,et al.  Terminal sliding mode control for the trajectory tracking of underactuated Autonomous Underwater Vehicles , 2017 .

[47]  Shihua Li,et al.  Finite-Time Trajectory Tracking Control of Under-Actuated Autonomous Surface Vessels Based on Non-Singular Terminal Sliding Mode , 2012 .

[48]  Jin Bae Park,et al.  Finite time control of nonlinear underactuated systems using terminal sliding surface , 2009, 2009 IEEE International Symposium on Industrial Electronics.

[49]  Mingwei Sun,et al.  A novel control scheme for quadrotor UAV based upon active disturbance rejection control , 2018, Aerospace Science and Technology.

[50]  Rini Akmeliawati,et al.  Robust stabilization of underactuated nonlinear systems: A fast terminal sliding mode approach. , 2017, ISA transactions.

[51]  Zhou Zhen,et al.  RBF-based terminal sliding mode control for a class of underactuated mechanical system , 2016, 2016 Chinese Control and Decision Conference (CCDC).

[52]  Rini Akmeliawati,et al.  Robust Control of Underactuated Systems: Higher Order Integral Sliding Mode Approach , 2016 .

[53]  Jian Huang,et al.  A Disturbance Observer Based Sliding Mode Control for a Class of Underactuated Robotic System With Mismatched Uncertainties , 2019, IEEE Transactions on Automatic Control.

[54]  Arun D. Mahindrakar,et al.  Robust Stabilization of a Class of Underactuated Mechanical Systems Using Time Scaling and Lyapunov Redesign , 2011, IEEE Transactions on Industrial Electronics.

[55]  Lei Mei,et al.  Novel Fixed-Time Nonsingular Fast Terminal Sliding Mode Control for Second-Order Uncertain Systems Based on Adaptive Disturbance Observer , 2020, IEEE Access.

[56]  Carlos Guedes Soares,et al.  Data-driven sideslip observer-based adaptive sliding-mode path-following control of underactuated marine vessels , 2020, Ocean Engineering.

[57]  Hao Li,et al.  Adaptive nonsingular fast terminal sliding mode control for electromechanical actuator , 2013, Int. J. Syst. Sci..

[58]  Hee-Jun Kang,et al.  A Backstepping Global Fast Terminal Sliding Mode Control for Trajectory Tracking Control of Industrial Robotic Manipulators , 2021, IEEE Access.

[59]  M. Emami,et al.  A Unified Approach to Input-output Linearization and Concurrent Control of Underactuated Open-chain Multi-body Systems with Holonomic and Nonholonomic Constraints , 2016 .

[60]  Wei Cao,et al.  Position-tracking control of underactuated autonomous underwater vehicles in the presence of unknown ocean currents , 2010 .

[61]  Yang Bo.  Nonsingular fast terminal-sliding-mode control method and its application on vehicular following system , 2010 .

[62]  Chitralekha Mahanta,et al.  Chattering free adaptive multivariable sliding mode controller for systems with matched and mismatched uncertainty. , 2013, ISA transactions.

[63]  Robert Seifried,et al.  Two approaches for feedforward control and optimal design of underactuated multibody systems , 2012 .

[64]  Xinghuo Yu,et al.  Fast terminal sliding-mode control design for nonlinear dynamical systems , 2002 .

[65]  Amit K. Sanyal,et al.  Integrated Guidance and Feedback Control of Underactuated Robotics System in SE(3) , 2018, J. Intell. Robotic Syst..

[66]  Ning Sun,et al.  Sliding mode control for underactuated overhead cranes suffering from both matched and unmatched disturbances , 2017 .

[67]  Ju-Jang Lee,et al.  Fuzzy sliding mode control for an under-actuated system with mismatched uncertainties , 2010, Artificial Life and Robotics.

[68]  Zheng Wang.  Adaptive smooth second-order sliding mode control method with application to missile guidance , 2017 .

[69]  Rini Akmeliawati,et al.  Robust stabilization of underactuated systems via fast terminal sliding mode , 2015, 2015 10th Asian Control Conference (ASCC).

[70]  Ye Yan,et al.  Fast Terminal Sliding Mode Control of Underactuated Spacecraft Formation Reconfiguration , 2016 .

[71]  Saleh Mobayen,et al.  A Novel Global Sliding Mode Control Based on Exponential Reaching Law for a Class of Underactuated Systems With External Disturbances , 2016 .

[72]  Rocío Muñoz-Mansilla,et al.  Application of quantitative feedback theory techniques for the control of a non-holonomic underactuated hovercraft , 2012 .

[73]  Sébastien Briot,et al.  Natural Oscillations of Underactuated Cable-Driven Parallel Robots , 2021, IEEE Access.

[74]  Tarek Hamel,et al.  A Control Approach for Thrust-Propelled Underactuated Vehicles and its Application to VTOL Drones , 2009, IEEE Transactions on Automatic Control.

[75]  Abdesselem Boulkroune,et al.  Stable Adaptive Fuzzy Sliding-Mode Controller for a Class of Underactuated Dynamic Systems , 2016 .

[76]  Kamal Youcef-Toumi,et al.  Trajectory tracking sliding mode control of underactuated AUVs , 2015 .

[77]  Mazen Alamir,et al.  Fast Generation of Attractive Trajectories for an Under-Actuated Satellite Application to Feedback Control Design , 2003 .

[78]  Paisarn Muneesawang,et al.  Smart Transmission Line Maintenance and Inspection using Mobile Robots , 2020 .

[79]  Thierry Floquet,et al.  Second‐order sliding mode control of underactuated mechanical systems I: Local stabilization with application to an inverted pendulum , 2008 .

[80]  Salah Laghrouche,et al.  Observer-based higher order sliding mode control of power factor in three-phase AC/DC converter for hybrid electric vehicle applications , 2013, Int. J. Control.

[81]  Metin U. Salamci,et al.  Sliding Mode Control Design for Nonlinear Systems Without Reaching Phase and its Applications to a Flexible Spacecraft , 2014 .

[82]  Peter Eberhard,et al.  Adaptive Model Predictive Control Design for Underactuated Multibody Systems with Uncertain Parameters , 2016 .

[83]  Zheping Yan,et al.  Bottom-following control for an underactuated unmanned undersea vehicle using integral-terminal sliding mode control , 2015 .

[84]  Seyyed Sajjad Moosapour,et al.  Adaptive backstepping fast terminal sliding mode controller design for ducted fan engine of thrust-vectored aircraft , 2017 .

[85]  Lionel Birglen,et al.  Stiffness Analysis of Underactuated Fingers and Its Application to Proprioceptive Tactile Sensing , 2016, IEEE/ASME Transactions on Mechatronics.

[86]  Mohamed Nabil Fathy Ibrahim,et al.  An Enhanced DC-Link Voltage Response for Wind-Driven Doubly Fed Induction Generator Using Adaptive Fuzzy Extended State Observer and Sliding Mode Control , 2021, Mathematics.

[87]  Jessy W. Grizzle,et al.  Continuous-time controllers for stabilizing periodic orbits of hybrid systems: Application to an underactuated 3D bipedal robot , 2014, 53rd IEEE Conference on Decision and Control.

[88]  Mohammad Mahdi Azimi,et al.  Adaptive fuzzy backstepping controller design for uncertain underactuated robotic systems , 2015 .

[89]  Qidan Zhu,et al.  A discontinuous control law of an underactuated surface vessel based on fast terminal sliding mode , 2010, 2010 8th World Congress on Intelligent Control and Automation.