High-order nonsingular terminal sliding mode optimal control of two-link flexible manipulators

Yanmin Wang; Changhong Wang; Pengfei Lu; Yueye Wang

doi:10.1109/IECON.2011.6119955

High-order nonsingular terminal sliding mode optimal control of two-link flexible manipulators

Yanmin Wang^*
, Changhong Wang
, Pengfei Lu
, Yueye Wang^*

^*Corresponding author for this work

College of Information and Communication Engineering, Harbin Engineering University
Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

13 Scopus citations

Abstract

A high-order nonsingular terminal sliding mode (NTSM) optimal control scheme for an uncertain two-link flexible manipulator system is proposed with considerations of both problems of non-minimum phase and chattering. Through system decomposition into an input-output subsystem and a zero dynamic subsystem by regular form technique, the controllable minimum phase characteristic is achieved, and then a third order NTSM controller is designed to realize fast convergence of the input-output subsystem, as well as to suppress the undesirable chattering. Meanwhile, the stability of zero dynamic subsystem is checked and its control property is optimized by a genetic algorithm around equilibrium points. Simulation results are presented to validate the control scheme.

Original language	English
Title of host publication	Proceedings
Subtitle of host publication	IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society
Pages	3953-3958
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2011.6119955
State	Published - 2011
Event	37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC, Australia Duration: 7 Nov 2011 → 10 Nov 2011

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Conference

Conference	37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
Country/Territory	Australia
City	Melbourne, VIC
Period	7/11/11 → 10/11/11

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10.1109/IECON.2011.6119955

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Wang, Y., Wang, C., Lu, P., & Wang, Y. (2011). High-order nonsingular terminal sliding mode optimal control of two-link flexible manipulators. In Proceedings: IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society (pp. 3953-3958). Article 6119955 (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2011.6119955

@inproceedings{1152ff117f8b44d3b1efd380516c854c,

title = "High-order nonsingular terminal sliding mode optimal control of two-link flexible manipulators",

abstract = "A high-order nonsingular terminal sliding mode (NTSM) optimal control scheme for an uncertain two-link flexible manipulator system is proposed with considerations of both problems of non-minimum phase and chattering. Through system decomposition into an input-output subsystem and a zero dynamic subsystem by regular form technique, the controllable minimum phase characteristic is achieved, and then a third order NTSM controller is designed to realize fast convergence of the input-output subsystem, as well as to suppress the undesirable chattering. Meanwhile, the stability of zero dynamic subsystem is checked and its control property is optimized by a genetic algorithm around equilibrium points. Simulation results are presented to validate the control scheme.",

author = "Yanmin Wang and Changhong Wang and Pengfei Lu and Yueye Wang",

year = "2011",

doi = "10.1109/IECON.2011.6119955",

language = "英语",

isbn = "9781612849720",

series = "IECON Proceedings (Industrial Electronics Conference)",

pages = "3953--3958",

booktitle = "Proceedings",

note = "37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 ; Conference date: 07-11-2011 Through 10-11-2011",

}

Wang, Y , Wang, C, Lu, P & Wang, Y 2011, High-order nonsingular terminal sliding mode optimal control of two-link flexible manipulators. in Proceedings: IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society., 6119955, IECON Proceedings (Industrial Electronics Conference), pp. 3953-3958, 37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011, Melbourne, VIC, Australia, 7/11/11. https://doi.org/10.1109/IECON.2011.6119955

High-order nonsingular terminal sliding mode optimal control of two-link flexible manipulators. / Wang, Yanmin ; Wang, Changhong; Lu, Pengfei et al.
Proceedings: IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society. 2011. p. 3953-3958 6119955 (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - High-order nonsingular terminal sliding mode optimal control of two-link flexible manipulators

AU - Wang, Yanmin

AU - Wang, Changhong

AU - Lu, Pengfei

AU - Wang, Yueye

PY - 2011

Y1 - 2011

N2 - A high-order nonsingular terminal sliding mode (NTSM) optimal control scheme for an uncertain two-link flexible manipulator system is proposed with considerations of both problems of non-minimum phase and chattering. Through system decomposition into an input-output subsystem and a zero dynamic subsystem by regular form technique, the controllable minimum phase characteristic is achieved, and then a third order NTSM controller is designed to realize fast convergence of the input-output subsystem, as well as to suppress the undesirable chattering. Meanwhile, the stability of zero dynamic subsystem is checked and its control property is optimized by a genetic algorithm around equilibrium points. Simulation results are presented to validate the control scheme.

AB - A high-order nonsingular terminal sliding mode (NTSM) optimal control scheme for an uncertain two-link flexible manipulator system is proposed with considerations of both problems of non-minimum phase and chattering. Through system decomposition into an input-output subsystem and a zero dynamic subsystem by regular form technique, the controllable minimum phase characteristic is achieved, and then a third order NTSM controller is designed to realize fast convergence of the input-output subsystem, as well as to suppress the undesirable chattering. Meanwhile, the stability of zero dynamic subsystem is checked and its control property is optimized by a genetic algorithm around equilibrium points. Simulation results are presented to validate the control scheme.

UR - https://www.scopus.com/pages/publications/84863054009

U2 - 10.1109/IECON.2011.6119955

DO - 10.1109/IECON.2011.6119955

M3 - 会议稿件

AN - SCOPUS:84863054009

SN - 9781612849720

T3 - IECON Proceedings (Industrial Electronics Conference)

SP - 3953

EP - 3958

BT - Proceedings

T2 - 37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011

Y2 - 7 November 2011 through 10 November 2011

ER -

High-order nonsingular terminal sliding mode optimal control of two-link flexible manipulators

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