International Journal of Control, Automation, and Systems 2024; 22(11): 3525-3537
https://doi.org/10.1007/s12555-024-0092-0
© The International Journal of Control, Automation, and Systems
To achieve accurate and fast cooperative trajectory tracking performance of circumferential yarn implantation system for 3D braiding machine under complicated uncertainties, a new time-delay cooperative control (TDCC) is proposed using novel nonlinear adaptive gains. The proposed TDCC consists of three terms, which are the time-delay estimation (TDE) and fractional-order nonsingular terminal sliding mode (FONTSM) dynamics and designed nonlinear adaptive gains. The TDE is applied to obtain the lumped system dynamics in a concise form, while the FONTSM is designed based on a newly proposed relative-coupling error dynamic to assure high cooperative control performance. Afterwards, novel nonlinear adaptive gains are designed to further enhance the control under measurement noise and lumped uncertainties. Enjoying a novel nonlinear structure, the proposed adaptive gains can effectively suppress the noise effect when the performance is satisfactory; and they still have the ability to ensure adaptive performance greatly when the control tends to degrade. Thanks to above three parts, our TDCC is model-free, precise and robust. Stability is proved using Lyapunov method. Comparative experiments were conducted using a designed circumferential yarn implantation system with three RGVs. The results show that our TDCC provides better performance over the latest two TDC methods, where the root-mean-square error (RMSE) of the RGVs are maximum of 90% and 75% of the other two TDC methods, respectively, and the maximum absolute error (MAE) are maximum of 91.2% and 80.5%, respectively. The RMSE and MAE of the RGVs with payload increase by a maximum of 11.1% and 13.3%, respectively under our TDCC. The results validate the effectiveness of the proposed method.
Keywords Fractional-order nonsingular terminal sliding mode, nonlinear adaptive gains, relative-coupling contro, 3D braiding, time-delay cooperative controll.
International Journal of Control, Automation, and Systems 2024; 22(11): 3525-3537
Published online November 1, 2024 https://doi.org/10.1007/s12555-024-0092-0
Copyright © The International Journal of Control, Automation, and Systems.
Yaoyao Wang* and Zhongde Shan
Nanjing University of Aeronautics and Astronautics
To achieve accurate and fast cooperative trajectory tracking performance of circumferential yarn implantation system for 3D braiding machine under complicated uncertainties, a new time-delay cooperative control (TDCC) is proposed using novel nonlinear adaptive gains. The proposed TDCC consists of three terms, which are the time-delay estimation (TDE) and fractional-order nonsingular terminal sliding mode (FONTSM) dynamics and designed nonlinear adaptive gains. The TDE is applied to obtain the lumped system dynamics in a concise form, while the FONTSM is designed based on a newly proposed relative-coupling error dynamic to assure high cooperative control performance. Afterwards, novel nonlinear adaptive gains are designed to further enhance the control under measurement noise and lumped uncertainties. Enjoying a novel nonlinear structure, the proposed adaptive gains can effectively suppress the noise effect when the performance is satisfactory; and they still have the ability to ensure adaptive performance greatly when the control tends to degrade. Thanks to above three parts, our TDCC is model-free, precise and robust. Stability is proved using Lyapunov method. Comparative experiments were conducted using a designed circumferential yarn implantation system with three RGVs. The results show that our TDCC provides better performance over the latest two TDC methods, where the root-mean-square error (RMSE) of the RGVs are maximum of 90% and 75% of the other two TDC methods, respectively, and the maximum absolute error (MAE) are maximum of 91.2% and 80.5%, respectively. The RMSE and MAE of the RGVs with payload increase by a maximum of 11.1% and 13.3%, respectively under our TDCC. The results validate the effectiveness of the proposed method.
Keywords: Fractional-order nonsingular terminal sliding mode, nonlinear adaptive gains, relative-coupling contro, 3D braiding, time-delay cooperative controll.
Vol. 22, No. 11, pp. 3253~3544