Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator
High dynamic performance of a deep-sea electric oil-filled joint actuator is an important premise to guarantee the working performance of an electric underwater manipulator. However, the unfavorable factors (i.e., extremely high water pressure, near freezing temperature) brought by the deep-sea work...
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MDPI AG
2021-10-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/21/10130 |
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| author | Lihui Liao Baoren Li Yuanyuan Wang Tengfei Tang Dijia Zhang Gang Yang |
| author_facet | Lihui Liao Baoren Li Yuanyuan Wang Tengfei Tang Dijia Zhang Gang Yang |
| author_sort | Lihui Liao |
| collection | DOAJ |
| description | High dynamic performance of a deep-sea electric oil-filled joint actuator is an important premise to guarantee the working performance of an electric underwater manipulator. However, the unfavorable factors (i.e., extremely high water pressure, near freezing temperature) brought by the deep-sea working environment seriously affect the characteristic and dynamic performance of the electric oil-filled joint actuator, which mainly includes oil stirring viscos loss, output shaft dynamic seal loss, and core loss. In this paper, a novel observer-based robust control method named prescribed performance non-singular fast-terminal sliding-mode control (PP-NFTSMC-ESO) was synthesized for improving the dynamic performance of a deep-sea electric oil-filled joint actuator. The extended state observer (ESO) was employed to observe the unmeasured joint velocity signal and estimate the lumped uncertainties, while the prescribed performance function (PPF) was applied to constrain the instantaneous and steady-state performance of the trajectory-tracking error. The robust NFTSMC control method was then established by integrating the function of ESO and PPF through backstepping methodology. The stability of the proposed PP-NFTSMC-ESO strategy was analyzed and proved by the Lyapunov’s stability theory. It was proven that under the proposed controller, all the closed-loop signals are bounded and the trajectory tracking errors will converge to a small neighborhood of the origin with appropriate design parameters. The effectiveness of the proposed control scheme was illustrated by comparative simulation studies. |
| first_indexed | 2024-03-10T06:06:47Z |
| format | Article |
| id | doaj.art-ad27b172777d4150a53f5ea451532b05 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T06:06:47Z |
| publishDate | 2021-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-ad27b172777d4150a53f5ea451532b052023-11-22T20:28:14ZengMDPI AGApplied Sciences2076-34172021-10-0111211013010.3390/app112110130Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint ActuatorLihui Liao0Baoren Li1Yuanyuan Wang2Tengfei Tang3Dijia Zhang4Gang Yang5School of Mechanical Science & Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Mechanical Science & Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaFESTO Pneumatics Centre, Huazhong University of Science and Technology, Wuhan 430074, ChinaCollege of Mechanical and Electrical Engineering, Wuhan Institute of Technology, Wuhan 430074, ChinaSchool of Mechanical Science & Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Mechanical Science & Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaHigh dynamic performance of a deep-sea electric oil-filled joint actuator is an important premise to guarantee the working performance of an electric underwater manipulator. However, the unfavorable factors (i.e., extremely high water pressure, near freezing temperature) brought by the deep-sea working environment seriously affect the characteristic and dynamic performance of the electric oil-filled joint actuator, which mainly includes oil stirring viscos loss, output shaft dynamic seal loss, and core loss. In this paper, a novel observer-based robust control method named prescribed performance non-singular fast-terminal sliding-mode control (PP-NFTSMC-ESO) was synthesized for improving the dynamic performance of a deep-sea electric oil-filled joint actuator. The extended state observer (ESO) was employed to observe the unmeasured joint velocity signal and estimate the lumped uncertainties, while the prescribed performance function (PPF) was applied to constrain the instantaneous and steady-state performance of the trajectory-tracking error. The robust NFTSMC control method was then established by integrating the function of ESO and PPF through backstepping methodology. The stability of the proposed PP-NFTSMC-ESO strategy was analyzed and proved by the Lyapunov’s stability theory. It was proven that under the proposed controller, all the closed-loop signals are bounded and the trajectory tracking errors will converge to a small neighborhood of the origin with appropriate design parameters. The effectiveness of the proposed control scheme was illustrated by comparative simulation studies.https://www.mdpi.com/2076-3417/11/21/10130deep-sea electric oil-filled joint actuatorrobust controlnon-singular fast-terminal sliding mode control (NFTSMC)extended state observer (ESO)prescribed performance control |
| spellingShingle | Lihui Liao Baoren Li Yuanyuan Wang Tengfei Tang Dijia Zhang Gang Yang Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator Applied Sciences deep-sea electric oil-filled joint actuator robust control non-singular fast-terminal sliding mode control (NFTSMC) extended state observer (ESO) prescribed performance control |
| title | Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator |
| title_full | Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator |
| title_fullStr | Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator |
| title_full_unstemmed | Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator |
| title_short | Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator |
| title_sort | prescribed performance non singular fast terminal sliding mode control based on extended state observer for a deep sea electric oil filled joint actuator |
| topic | deep-sea electric oil-filled joint actuator robust control non-singular fast-terminal sliding mode control (NFTSMC) extended state observer (ESO) prescribed performance control |
| url | https://www.mdpi.com/2076-3417/11/21/10130 |
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