The Experts below are selected from a list of 92763 Experts worldwide ranked by ideXlab platform

Victor Etxebarria - One of the best experts on this subject based on the ideXlab platform.

  • energy based approach to sliding composite adaptive control for rigid robots with finite Error Convergence time
    International Journal of Control, 2002
    Co-Authors: Oscar Barambones, Victor Etxebarria
    Abstract:

    In this paper a terminal sliding-mode adaptive control scheme for robotic manipulators designed following an energybased approach is presented. The control comprises two basic terms: a composite adaptive term which implements a feedback law for compensating the modelled dynamics and a non-linear sliding-mode term for overcoming the unmodelled dynamics and perturbations. The resulting closed-loop system is proved to be stable and it is also shown that the trajectory-tracking Error converges to zero in finite time. Moreover, an upper bound of this Error Convergence time is calculated. Finally, the design is evaluated by means of simulations.

  • Robust sliding composite adaptive control for mechanical manipulators with finite Error Convergence time
    International Journal of Systems Science, 2001
    Co-Authors: Oscar Barambones, Victor Etxebarria
    Abstract:

    In this paper a new robust adaptive control scheme for mechanical manipulators is presented. The design basically consists of, on the one hand, a composite adaptive controller which implements a feedback law that compensates the modelled dynamics and, on the other hand, a nonlinear sliding mode control law that overcomes the unmodelled dynamics and noise. It is proved that the resulting closed-loop system is stable and that the trajectory-tracking Error converges to zero in finite time. Moreover, an upper bound of this Error Convergence time is calculated. Finally, the design is evaluated by means of simulations.

  • A ROBUST TERMINAL SLIDING COMPOSITE ADAPTIVE CONTROL SCHEME FOR RIGID ROBOTS
    Cybernetics and Systems, 2000
    Co-Authors: Oscar Barambones, Victor Etxebarria
    Abstract:

    In this article is presented a robust adaptive control scheme for mechanical manipulators with finite Error Convergence time. The design combines, on the one hand, a composite adaptive controller that implements a feedback linearization control law that compensates the modelled dynamics, and, on the other hand, a terminal sliding mode control law that overcomes the uncertainties usually present in the real systems. Then, to avoid the chattering phenomenon inherent to the sliding schemes, the control law is also smoothed out. It is proved that the resulting closed loop system is stable and that the trajectory-tracking Error converges to zero in finite time. Moreover, an upper bound of this Error Convergence time is calculated. Finally, the design is evaluated by means of simulations.

Oscar Barambones - One of the best experts on this subject based on the ideXlab platform.

  • energy based approach to sliding composite adaptive control for rigid robots with finite Error Convergence time
    International Journal of Control, 2002
    Co-Authors: Oscar Barambones, Victor Etxebarria
    Abstract:

    In this paper a terminal sliding-mode adaptive control scheme for robotic manipulators designed following an energybased approach is presented. The control comprises two basic terms: a composite adaptive term which implements a feedback law for compensating the modelled dynamics and a non-linear sliding-mode term for overcoming the unmodelled dynamics and perturbations. The resulting closed-loop system is proved to be stable and it is also shown that the trajectory-tracking Error converges to zero in finite time. Moreover, an upper bound of this Error Convergence time is calculated. Finally, the design is evaluated by means of simulations.

  • Robust sliding composite adaptive control for mechanical manipulators with finite Error Convergence time
    International Journal of Systems Science, 2001
    Co-Authors: Oscar Barambones, Victor Etxebarria
    Abstract:

    In this paper a new robust adaptive control scheme for mechanical manipulators is presented. The design basically consists of, on the one hand, a composite adaptive controller which implements a feedback law that compensates the modelled dynamics and, on the other hand, a nonlinear sliding mode control law that overcomes the unmodelled dynamics and noise. It is proved that the resulting closed-loop system is stable and that the trajectory-tracking Error converges to zero in finite time. Moreover, an upper bound of this Error Convergence time is calculated. Finally, the design is evaluated by means of simulations.

  • A ROBUST TERMINAL SLIDING COMPOSITE ADAPTIVE CONTROL SCHEME FOR RIGID ROBOTS
    Cybernetics and Systems, 2000
    Co-Authors: Oscar Barambones, Victor Etxebarria
    Abstract:

    In this article is presented a robust adaptive control scheme for mechanical manipulators with finite Error Convergence time. The design combines, on the one hand, a composite adaptive controller that implements a feedback linearization control law that compensates the modelled dynamics, and, on the other hand, a terminal sliding mode control law that overcomes the uncertainties usually present in the real systems. Then, to avoid the chattering phenomenon inherent to the sliding schemes, the control law is also smoothed out. It is proved that the resulting closed loop system is stable and that the trajectory-tracking Error converges to zero in finite time. Moreover, an upper bound of this Error Convergence time is calculated. Finally, the design is evaluated by means of simulations.

Masayoshi Tomizuka - One of the best experts on this subject based on the ideXlab platform.

  • Chattering reduction and Error Convergence in the sliding-mode control of a class of nonlinear systems
    IEEE Transactions on Automatic Control, 1996
    Co-Authors: Pushkin Kachroo, Masayoshi Tomizuka
    Abstract:

    To reduce chattering in sliding-mode control, a boundary layer around the switching surface is used, and a continuous control is applied within the boundary. The effects of various control laws within the boundary layer on chattering and Error Convergence in different systems are studied. New functions for chattering reduction and Error Convergence inside the boundary layer are proposed which are discontinuous in magnitude but not in sign. The internal model principle has been used to generalize the design for the class of nonlinear systems being considered.

  • Integral Action For Chattering Reduction And Error Convergence in Sliding Mode Control
    1992 American Control Conference, 1992
    Co-Authors: Pushkin Kachroo, Masayoshi Tomizuka
    Abstract:

    Sliding mode control is a standard approach to tackle the parametric and modeling uncertainities of a non-linear system. However, the robust control obtained by using sliding mode has a price, which is the high frequency chattering encountered during the digital implementation of the control. The idea of introducing a boundary layer around the switching surface and approximating a continuous control inside it has been extended for different kinds of systems. The systems should be analyzed to ascertain which continuous law is appropriate within the boundary layer. In this paper the effect of various continuous control approximations within the boundary layer to chattering and Error Convergence in different systems is studied.

Manh Tuan Do - One of the best experts on this subject based on the ideXlab platform.

  • Design and Implementation of Adaptive Terminal Sliding-Mode Control on a Steer-by-Wire Equipped Road Vehicle
    IEEE Transactions on Industrial Electronics, 2016
    Co-Authors: Hai Wang, Zhihong Man, Zhenwei Cao, Huifang Kong, Jinchuan Zheng, Ming Yu, Yong Zhao, Manh Tuan Do
    Abstract:

    This paper proposes a novel adaptive terminal sliding-mode (ATSM) control scheme for a Steer-by-Wire (SBW) vehicle. It is shown that the developed ATSM controller can drive the closed-loop Error dynamics to converge to zero in a finite time, where adaptive laws are applied to estimate the uncertain bounds of the system parameters and disturbances in Lyapunov sense. Compared with the sliding-mode-based SBW control systems, the proposed ATSM control not only assures the finite-time Error Convergence and strong robustness with respect to parameter uncertainties and varying driving conditions, but also requires no prior knowledge of the system parameters and road information. Experimental results from an SBW vehicle are demonstrated to verify the remarkable performance of the proposed control in terms of the robustness, Error Convergence, and road disturbance attenuation, in comparison with other control strategies.

Pushkin Kachroo - One of the best experts on this subject based on the ideXlab platform.

  • Chattering reduction and Error Convergence in the sliding-mode control of a class of nonlinear systems
    IEEE Transactions on Automatic Control, 1996
    Co-Authors: Pushkin Kachroo, Masayoshi Tomizuka
    Abstract:

    To reduce chattering in sliding-mode control, a boundary layer around the switching surface is used, and a continuous control is applied within the boundary. The effects of various control laws within the boundary layer on chattering and Error Convergence in different systems are studied. New functions for chattering reduction and Error Convergence inside the boundary layer are proposed which are discontinuous in magnitude but not in sign. The internal model principle has been used to generalize the design for the class of nonlinear systems being considered.

  • Integral Action For Chattering Reduction And Error Convergence in Sliding Mode Control
    1992 American Control Conference, 1992
    Co-Authors: Pushkin Kachroo, Masayoshi Tomizuka
    Abstract:

    Sliding mode control is a standard approach to tackle the parametric and modeling uncertainities of a non-linear system. However, the robust control obtained by using sliding mode has a price, which is the high frequency chattering encountered during the digital implementation of the control. The idea of introducing a boundary layer around the switching surface and approximating a continuous control inside it has been extended for different kinds of systems. The systems should be analyzed to ascertain which continuous law is appropriate within the boundary layer. In this paper the effect of various continuous control approximations within the boundary layer to chattering and Error Convergence in different systems is studied.