Robust Continuous Sliding Mode Control for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances
This paper focuses on a robust continuous sliding mode control (RCSMC) method for manipulator PMSM trajectory tracking system under time-varying uncertain disturbances. The main objective of this study is to improve the trajectory tracking dynamic response and disturbances rejection ability of the m...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2020-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9241076/ |
| _version_ | 1818579375528869888 |
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| author | Baolei Wang Chi Zhang Qingwei Jia Xiangjun Liu Guilin Yang |
| author_facet | Baolei Wang Chi Zhang Qingwei Jia Xiangjun Liu Guilin Yang |
| author_sort | Baolei Wang |
| collection | DOAJ |
| description | This paper focuses on a robust continuous sliding mode control (RCSMC) method for manipulator PMSM trajectory tracking system under time-varying uncertain disturbances. The main objective of this study is to improve the trajectory tracking dynamic response and disturbances rejection ability of the manipulator PMSM, and then the manipulator itself, by using the RCSMC method. The RCSMC method consists of two key parts: a terminal continuous sliding mode controller (TCSMC), and an extended state observer (ESO). The TCSMC has been demonstrated to have remarkable capabilities to reduce the chattering phenomenon caused by high frequency switching function in the conventional sliding mode control law, and reject the strong time-varying uncertain disturbances for PMSM velocity loops. However, the high control gain, which could lead high velocity steady state fluctuations, is needed. Therefore, an extended state observer is introduced to estimate the disturbances. The estimated disturbances are further used by the velocity loop controller as a kind of feed-forward compensation to reduce the gain of the TCSMC method. The stability of the PMSM trajectory tracking system with the RCSMC algorithm is guaranteed by the Lyapunov stability criteria. Simulations have been conducted to verify the performance of the proposed RCSMC algorithm. Finally, the proposed RCSMC algorithm is applied in a practical 6-DOF manipulator, and the experimental results exhibit the extraordinary robustness and capabilities in dynamic position tracking characteristics, velocity response and disturbances rejection. |
| first_indexed | 2024-12-16T07:00:42Z |
| format | Article |
| id | doaj.art-ab687efe16ff4443928a964c637018c7 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-16T07:00:42Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-ab687efe16ff4443928a964c637018c72022-12-21T22:40:10ZengIEEEIEEE Access2169-35362020-01-01819661819663210.1109/ACCESS.2020.30342209241076Robust Continuous Sliding Mode Control for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain DisturbancesBaolei Wang0https://orcid.org/0000-0002-9772-4173Chi Zhang1https://orcid.org/0000-0002-1097-7101Qingwei Jia2Xiangjun Liu3Guilin Yang4https://orcid.org/0000-0001-6144-3401Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Material Technology and Engineering, Chinese Academy of Sciences, Ningbo, ChinaZhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Material Technology and Engineering, Chinese Academy of Sciences, Ningbo, ChinaWild SC (Ningbo) Intelligent Technology Company Ltd., Ningbo, ChinaInstitute of Micro/Nano Electromechanical System, Donghua University, Shanghai, ChinaZhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Material Technology and Engineering, Chinese Academy of Sciences, Ningbo, ChinaThis paper focuses on a robust continuous sliding mode control (RCSMC) method for manipulator PMSM trajectory tracking system under time-varying uncertain disturbances. The main objective of this study is to improve the trajectory tracking dynamic response and disturbances rejection ability of the manipulator PMSM, and then the manipulator itself, by using the RCSMC method. The RCSMC method consists of two key parts: a terminal continuous sliding mode controller (TCSMC), and an extended state observer (ESO). The TCSMC has been demonstrated to have remarkable capabilities to reduce the chattering phenomenon caused by high frequency switching function in the conventional sliding mode control law, and reject the strong time-varying uncertain disturbances for PMSM velocity loops. However, the high control gain, which could lead high velocity steady state fluctuations, is needed. Therefore, an extended state observer is introduced to estimate the disturbances. The estimated disturbances are further used by the velocity loop controller as a kind of feed-forward compensation to reduce the gain of the TCSMC method. The stability of the PMSM trajectory tracking system with the RCSMC algorithm is guaranteed by the Lyapunov stability criteria. Simulations have been conducted to verify the performance of the proposed RCSMC algorithm. Finally, the proposed RCSMC algorithm is applied in a practical 6-DOF manipulator, and the experimental results exhibit the extraordinary robustness and capabilities in dynamic position tracking characteristics, velocity response and disturbances rejection.https://ieeexplore.ieee.org/document/9241076/Robust continuous sliding mode controlmanipulatorPMSM controltrajectory tracking systemtime-varying uncertain disturbances |
| spellingShingle | Baolei Wang Chi Zhang Qingwei Jia Xiangjun Liu Guilin Yang Robust Continuous Sliding Mode Control for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances IEEE Access Robust continuous sliding mode control manipulator PMSM control trajectory tracking system time-varying uncertain disturbances |
| title | Robust Continuous Sliding Mode Control for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances |
| title_full | Robust Continuous Sliding Mode Control for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances |
| title_fullStr | Robust Continuous Sliding Mode Control for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances |
| title_full_unstemmed | Robust Continuous Sliding Mode Control for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances |
| title_short | Robust Continuous Sliding Mode Control for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances |
| title_sort | robust continuous sliding mode control for manipulator pmsm trajectory tracking system under time varying uncertain disturbances |
| topic | Robust continuous sliding mode control manipulator PMSM control trajectory tracking system time-varying uncertain disturbances |
| url | https://ieeexplore.ieee.org/document/9241076/ |
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