Practical continuous fractional-order nonsingular terminal sliding mode control of underwater hydraulic manipulators with valve deadband compensators

Abstract

For the multi-degrees of freedom control problem of underwater hydraulic manipulators with non-ignorable valve deadband and strong lumped nonlinearities and uncertainties, a practical continuous fractional-order nonsingular terminal sliding mode control design together with a deadband compensator is presented and studied. The presented method contains three parts a time delay estimation utilized to nearly estimate and compensate the extremely complicated system dynamics, a continuous fractional-order nonsingular terminal sliding mode used to ensure high control performance against the strong lumped nonlinearities and uncertainties, and a valve deadband compensator used to compensate for the non-ignorable valve deadband. The proposed method is model-free thanks to the time delay estimation, and can ensure satisfactory control performance thanks to the continuous fractional-order nonsingular terminal sliding mode and deadband compensator. Stability of the closed-loop control system including the deadband compensator is proved rigorously. Finally, practical 2-degrees of freedom experiments are performed, and corresponding results effectively demonstrate the superiorities of the newly presented controller with deadband compensator.

Keywords

Underwater hydraulic manipulators time delay estimation fractional order terminal sliding mode valve deadband compensators

Get full access to this article

View all access options for this article.

References

Yao

Jiao

et al . High-accuracy tracking control of hydraulic rotary actuators with modeling uncertainties. IEEE/ASME T Mechatron 2014; 19(2): 633–641.

Wang

Sun

et al . Finite-time position tracking control of rigid hydraulic manipulators based on high-order terminal sliding mode. Proc IMECHE, Part I: J Systems and Control Engineering 2012; 226(3): 394–415.

Mohanty

Yao

Integrated direct/indirect adaptive robust control of hydraulic manipulators with valve deadband. IEEE/ASME T Mechatron 2011; 16(4): 707–715.

Wang

Trajectory tracking control of a 6-DOF hydraulic parallel robot manipulator with uncertain load disturbances. Control Eng Pract 2011; 19(2): 185–193.

Wei

Zhang

et al . High-performance motion control of the hydraulic press based on an extended fuzzy disturbance observer. Proc IMECHE, Part I: J Systems and Control Engineering 2016; 230(9): 1044–1061.

Shirinzadeh

et al . Continuous finite-time control for robotic manipulators with terminal sliding mode. Automatica 2005; 41(11): 1957–1964.

Van

Ren

Finite time fault tolerant control for robot manipulators using time delay estimation and continuous nonsingular fast terminal sliding mode control. IEEE T Cybernetics 2017; 47(7): 1681–1693.

Jin

Lee

Ahn

KK.

Continuous nonsingular terminal sliding-mode control of shape memory alloy actuators using time delay estimation. IEEE/ASME T Mechatron 2015; 20(2): 899–909.

Wang

Gao

et al . Multivariable output feedback adaptive terminal sliding mode control for underwater vehicles. Asian J Control 2016; 18(1): 247–265.

10.

Wang

Chen

Joint space tracking control of underwater vehicle-manipulator systems using continuous nonsingular fast terminal sliding mode. Proc IMECHE, Part M: J Engineering for the Maritime Environment. Epub ahead of print 21 November 2017. DOI: 10.1177/1475090217742241.

11.

Jin

Kang

Chang

et al . Robust control of robot manipulators using inclusive and enhanced time delay control. IEEE/ASME T Mechatron 2017; 22(5): 2141–2152.

12.

Jin

Lee

Tsagarakis

NG.

Model-free robust adaptive control of humanoid robots with flexible joints. IEEE T Ind Electron 2017; 64(2): 1706–1715.

13.

Jin

Lee

Chang

et al . Practical nonsingular terminal sliding-mode control of robot manipulators for high-accuracy tracking control. IEEE T Ind Electron 2009; 56(9): 3593–3601.

14.

Wang

et al . Practical tracking control of robot manipulators with continuous fractional-order nonsingular terminal sliding mode. IEEE T Ind Electron 2016; 63(10): 6194–6204.

15.

Delavari

Lanusse

Sabatier

Fractional order controller design for a flexible link manipulator robot. Asian J Control 2013; 15(3): 783–795.

16.

Aghababa

MP.

A novel terminal sliding mode controller for a class of non-autonomous fractional-order systems. Nonlinear Dynam 2013; 73(1–2): 679–688.

17.

Delavari

Ranjbar

Ghaderi

et al . Fractional order control of a coupled tank. Nonlinear Dynam 2010; 61(3): 383–397.

18.

Zhang

Luo

Fractional order sliding-mode control based on parameters auto-tuning for velocity control of permanent magnet synchronous motor. ISA T 2012; 51(5): 649–656.

19.

Wang

Luo

et al . Fractional-order nonsingular terminal sliding mode control of hydraulic manipulators using time delay estimation. J Vib Control 2016; 22(19): 3998–4011.

20.

Wang

Chen

et al . Time delay control of hydraulic manipulators with continuous nonsingular terminal sliding mode. J Cent South Univ 2015; 22(12): 4616–4624.

21.

Kilbsa

Srivastava

Trujillo

JJ.

Fractional integrals and fractional derivatives. In: Theory and applications of fractional differential equations. 1st ed.Amsterdam: Elsevier, 2006, pp.69–113.

22.

Jin

Kang

Chang

PH.

Robust compliant motion control of robot with nonlinear friction using time-delay estimation. IEEE T Ind Electron 2008; 55(1): 258–269.

23.

Chang

Park

SH.

On improving time-delay control under certain hard nonlinearities. Mechatronics 2003; 13: 393–412.

24.

Tepljakov

Petlenkov

Belikov

. FOMCON: Fractional-order modeling and control toolbox for MATLAB. In: Proceedings of the 18th international conference on mixed design of integrated circuits and systems, Gliwice, 16–18 June 2011, pp.684–689. New York: IEEE.