Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(7): 2207-2215

https://doi.org/10.1007/s12555-023-0490-8

© The International Journal of Control, Automation, and Systems

Output Feedback Based Adaptive Continuous Sliding Mode Control for Mechanical Systems With Actuator Faults

Tao Jiang, Yan Yan*, Shuang-He Yu, and Tie-Shan Li

Dalian Maritime University

Abstract

In this article, an adaptive continuous sliding mode control (SMC) scheme is presented for the trajectory tracking problem of mechanical systems with parameter uncertainties, external disturbances and actuator faults. The hyperbolic tangent function is widely used to replace the signum function in SMC to ensure that the robust term is continuous and to reduce chattering. Since such an approach is difficult for SMC schemes with adaptive gain to induce system stability through Lyapunov functions, we reconstruct the hyperbolic tangent function by taking both the adaptive control gain and sliding variables as inputs. The designed gain dynamics do not require a priori upper bound on lumped uncertainties, including parameter uncertainties, external disturbances and actuator faults, and ensure no overestimated gains. Besides, an adaptive dual-layer super-twisting (ADLST) observer is adopted to accurately estimate unmeasurable velocities, which achieves the synthesis of an adaptive sliding mode observer and the continuous SMC method with adaptive gain. It is proven through the Lyapunov function that all closedloop signals are ultimately bounded. Comparative simulations are conducted on a two-link rigid manipulator to demonstrate the effectiveness of the adopted observer and the proposed scheme.

Keywords Actuator faults, adaptive control, continuous sliding mode control, mechanical system, super-twisting observer.

Article

Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(7): 2207-2215

Published online July 1, 2024 https://doi.org/10.1007/s12555-023-0490-8

Copyright © The International Journal of Control, Automation, and Systems.

Output Feedback Based Adaptive Continuous Sliding Mode Control for Mechanical Systems With Actuator Faults

Tao Jiang, Yan Yan*, Shuang-He Yu, and Tie-Shan Li

Dalian Maritime University

Abstract

In this article, an adaptive continuous sliding mode control (SMC) scheme is presented for the trajectory tracking problem of mechanical systems with parameter uncertainties, external disturbances and actuator faults. The hyperbolic tangent function is widely used to replace the signum function in SMC to ensure that the robust term is continuous and to reduce chattering. Since such an approach is difficult for SMC schemes with adaptive gain to induce system stability through Lyapunov functions, we reconstruct the hyperbolic tangent function by taking both the adaptive control gain and sliding variables as inputs. The designed gain dynamics do not require a priori upper bound on lumped uncertainties, including parameter uncertainties, external disturbances and actuator faults, and ensure no overestimated gains. Besides, an adaptive dual-layer super-twisting (ADLST) observer is adopted to accurately estimate unmeasurable velocities, which achieves the synthesis of an adaptive sliding mode observer and the continuous SMC method with adaptive gain. It is proven through the Lyapunov function that all closedloop signals are ultimately bounded. Comparative simulations are conducted on a two-link rigid manipulator to demonstrate the effectiveness of the adopted observer and the proposed scheme.

Keywords: Actuator faults, adaptive control, continuous sliding mode control, mechanical system, super-twisting observer.

IJCAS
July 2024

Vol. 22, No. 7, pp. 2055~2340

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