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Disturbance Compensation Based Discrete-time Sliding Mode Control with a Reference Trajectory Generator

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  • Control Theory and Applications
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Abstract

A novel disturbance compensation based sliding mode reaching law with a reference trajectory generator is presented in this work. Unlike existing similar researches, a reference trajectory generator is added to the reaching law to obtain the target evolution of the switching function. Meanwhile, a high order disturbance estimator is utilized to achieve accurate disturbance rejection. Additionally, by using the nonlinear functions, the controller parameters can be adaptively adjusted in a wise manner. The main merit of the presented method is that it is capable of ensuring a much smaller ultimate bound of the switching function, i.e., O(Tn+1) order accuracy and n is a positive integer, better system robustness, and improved control accuracy. Moreover, system dynamics, including the system states, are theoretically analyzed. The performance improvement of the presented method is verified through a real simulation study.

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Authors and Affiliations

  1. State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Chao Liu

  2. Department of Industrial and Systems Engineering, the Hong Kong Polytechnic University, Hong Kong, China

    Yangmin Li

  3. Key Laboratory of High-efficiency and Clean Mechanical Manufacture (Ministry of Education)/National Demonstration Center for Experimental Mechanical Engineering Education, School of Mechanical Engineering, Shandong University, Jinan, 250061, China

    Sukun Tian & Haifeng Ma

Authors
  1. Chao Liu
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  2. Yangmin Li
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  3. Sukun Tian
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  4. Haifeng Ma
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Corresponding author

Correspondence to Haifeng Ma.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

This work is supported by the National Science Foundation of China under Grant (51805327, 51575544).

Chao Liu received his B.E. degree in agricultural mechanization and automation from Shandong Agricultural University, Taian, China, in 2007, an M.E. degree in mechanical manufacturing and automation from Jilin University, Changchun, China, in 2009, and a Ph.D. degree in mechatronic engineering from Shanghai Jiao Tong University, Shanghai, China, in 2015. He is currently a research assistant with the School of Mechanical Engineering, Shanghai Jiao Tong University. His research interests include high-performance motion control algorithm, drive-control integrated robot controller design, and robot operating system integration and application.

Yangmin Li received his B.E. and M.E. degrees from Jilin University, Changchun, China, in 1985 and 1988, respectively, and a Ph.D. degree from Tianjin University, Tianjin, China, in 1994, all in mechanical engineering. He is currently a Full Professor of the Department of Industrial and Systems Engineering of The Hong Kong Polytechnic University. He has authored and coauthored 400 scientific papers in journals and conferences. His research interests include micro/nanomanipulation, compliant mechanism, precision engineering, robotics, multibody dynamics and control. Dr. Li is a Member of the ASME. He is an Associate Editor of the IEEE Trans. Auto. Sci. Eng., Associate Editor of Mechatronics, Associate Editor of the International Journal of Control, Automation, and Systems, and Associate Editor of IEEE Access.

Sukun Tian received his B.E. degree in mechanical engineering from Zaozhuang University, Zaozhuang, China, in 2011, an M.E. degree in mechanical engineering from the University of South China, Hengyang, China, in 2013, and a Ph.D. degree in manufacture engineering of aeronautics and astronautics from Nanjing University of Aeronautics and Astronautics, Nanjing, China, in 2020. He is currently a postdoctoral research fellow in School of Mechanical Engineering, Shandong University, Jinan, China, under the supervision of Prof. Haifeng Ma. His research interests include deep learning, biomedical engineering and intelligent fault diagnostics.

Haifeng Ma received his B.E. and M.E. degrees in mechanical engineering from Southwest Jiaotong University, Chengdu, China, in 2010 and 2013, respectively, and a Ph.D. degree in mechatronics from Shanghai Jiao Tong University, Shanghai, China, in 2017. He is currently working with the Key Laboratory of High Efficiency and Clean Mechanical Manufacture of MOE, School of Mechanical Engineering, Shandong University, Jinan, China. His research interests include sliding-mode control (SMC) theory and applications, vibration control and intelligent manufacturing.

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Liu, C., Li, Y., Tian, S. et al. Disturbance Compensation Based Discrete-time Sliding Mode Control with a Reference Trajectory Generator. Int. J. Control Autom. Syst. 19, 3862–3868 (2021). https://doi.org/10.1007/s12555-020-0940-5

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  • DOI: https://doi.org/10.1007/s12555-020-0940-5

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