Next Article in Journal
Cost-Aware Design and Fabrication of New Support Structures in Laser Powder Bed Fusion: Microstructure and Metallurgical Properties
Previous Article in Journal
Analysis of Dynamic Behavior of Spray Boom under Step Excitation
Article

Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator

1
School of Mechanical Science & Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
2
FESTO Pneumatics Centre, Huazhong University of Science and Technology, Wuhan 430074, China
3
College of Mechanical and Electrical Engineering, Wuhan Institute of Technology, Wuhan 430074, China
*
Author to whom correspondence should be addressed.
Academic Editor: Seong-Ik Han
Appl. Sci. 2021, 11(21), 10130; https://doi.org/10.3390/app112110130
Received: 17 September 2021 / Revised: 11 October 2021 / Accepted: 12 October 2021 / Published: 28 October 2021
(This article belongs to the Section Robotics and Automation)
High dynamic performance of a deep-sea electric oil-filled joint actuator is an important premise to guarantee the working performance of an electric underwater manipulator. However, the unfavorable factors (i.e., extremely high water pressure, near freezing temperature) brought by the deep-sea working environment seriously affect the characteristic and dynamic performance of the electric oil-filled joint actuator, which mainly includes oil stirring viscos loss, output shaft dynamic seal loss, and core loss. In this paper, a novel observer-based robust control method named prescribed performance non-singular fast-terminal sliding-mode control (PP-NFTSMC-ESO) was synthesized for improving the dynamic performance of a deep-sea electric oil-filled joint actuator. The extended state observer (ESO) was employed to observe the unmeasured joint velocity signal and estimate the lumped uncertainties, while the prescribed performance function (PPF) was applied to constrain the instantaneous and steady-state performance of the trajectory-tracking error. The robust NFTSMC control method was then established by integrating the function of ESO and PPF through backstepping methodology. The stability of the proposed PP-NFTSMC-ESO strategy was analyzed and proved by the Lyapunov’s stability theory. It was proven that under the proposed controller, all the closed-loop signals are bounded and the trajectory tracking errors will converge to a small neighborhood of the origin with appropriate design parameters. The effectiveness of the proposed control scheme was illustrated by comparative simulation studies. View Full-Text
Keywords: deep-sea electric oil-filled joint actuator; robust control; non-singular fast-terminal sliding mode control (NFTSMC); extended state observer (ESO); prescribed performance control deep-sea electric oil-filled joint actuator; robust control; non-singular fast-terminal sliding mode control (NFTSMC); extended state observer (ESO); prescribed performance control
Show Figures

Figure 1

MDPI and ACS Style

Liao, L.; Li, B.; Wang, Y.; Tang, T.; Zhang, D.; Yang, G. Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator. Appl. Sci. 2021, 11, 10130. https://doi.org/10.3390/app112110130

AMA Style

Liao L, Li B, Wang Y, Tang T, Zhang D, Yang G. Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator. Applied Sciences. 2021; 11(21):10130. https://doi.org/10.3390/app112110130

Chicago/Turabian Style

Liao, Lihui, Baoren Li, Yuanyuan Wang, Tengfei Tang, Dijia Zhang, and Gang Yang. 2021. "Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator" Applied Sciences 11, no. 21: 10130. https://doi.org/10.3390/app112110130

Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop