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An Observer-Based Fixed Time Sliding Mode Controller for a Class of Second-Order Nonlinear Systems and Its Application to Robot Manipulators

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Intelligent Computing Methodologies (ICIC 2022)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13395))

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Abstract

An observer-based fixed-time sliding mode controller for a class of second-order nonlinear systems under matched uncertainties and disturbances is proposed and applied to robot manipulators in this paper. To begin with, a fixed-time disturbance observer (FxDO) based on a uniform robust exact differentiator (URED) proactively addresses external disturbances and uncertain terms. As a result of the designed observer, uncertain terms can be precisely approximated within a fixed time and contribute to reducing the chattering and improving the tracking performance of traditional sliding mode controllers. Secondly, on the basis of phase plane analysis and Lyapunov theory, we construct a modified fixed-time non-singular terminal sliding surface as well as a guaranteed closed-loop convergence time independent of initial states. Consequently, an observer-based fixed-time sliding mode controller was developed based on the combination of a designed fixed-time disturbance observer and a fixed-time sliding mode method. Finally, the proposed controller is applied to a 3-DOF FARA robot manipulator to demonstrate its effectiveness.

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Acknowledgement

This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (NRF-2019R1D1A3A03103528).

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Authors and Affiliations

  1. Department of Electrical, Electronic and Computer Engineering, University of Ulsan, Ulsan, 44610, South Korea

    Thanh Nguyen Truong, Anh Tuan Vo & Hee-Jun Kang

  2. The University of Danang – University of Science and Technology, 54 Nguyen Luong Bang Street, Danang, 550000, Vietnam

    Tien Dung Le

Authors
  1. Thanh Nguyen Truong
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  2. Anh Tuan Vo
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  3. Hee-Jun Kang
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  4. Tien Dung Le
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Corresponding author

Correspondence to Hee-Jun Kang .

Editor information

Editors and Affiliations

  1. Tongji University, Shanghai, China

    De-Shuang Huang

  2. University of Ulsan, Ulsan, Korea (Republic of)

    Kang-Hyun Jo

  3. Xi’an Polytechnic University, Xi’an, China

    Junfeng Jing

  4. The University of Wollongong, North Wollongong, NSW, Australia

    Prashan Premaratne

  5. Polytecnic of Bari, Bari, Italy

    Vitoantonio Bevilacqua

  6. Liverpool John Moores University, Liverpool, UK

    Abir Hussain

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Truong, T.N., Vo, A.T., Kang, HJ., Le, T.D. (2022). An Observer-Based Fixed Time Sliding Mode Controller for a Class of Second-Order Nonlinear Systems and Its Application to Robot Manipulators. In: Huang, DS., Jo, KH., Jing, J., Premaratne, P., Bevilacqua, V., Hussain, A. (eds) Intelligent Computing Methodologies. ICIC 2022. Lecture Notes in Computer Science(), vol 13395. Springer, Cham. https://doi.org/10.1007/978-3-031-13832-4_44

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  • DOI: https://doi.org/10.1007/978-3-031-13832-4_44

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-13831-7

  • Online ISBN: 978-3-031-13832-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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