Trajectory tracking control for electro-optical tracking system based on fractional-order sliding mode controller
1The State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, China.
ISA Transactions
|March 2, 2021
Summary
This study introduces a novel hybrid control scheme using a super-twisting extended state observer (ESO) and fractional-order nonsingular terminal sliding mode (FONTSM) for electro-optical tracking systems. The method effectively estimates disturbances and enhances tracking accuracy and robustness.
Area of Science:
- Control Systems Engineering
- Robotics
- Mechatronics
Background:
- Electro-optical tracking systems face challenges from friction and nonlinear disturbances.
- Accurate trajectory tracking is crucial for system performance.
Purpose of the Study:
- To develop a robust trajectory tracking control scheme for electro-optical systems.
- To address limitations of existing control methods in handling nonlinearities.
Main Methods:
- Utilized a super-twisting extended state observer (ESO) for disturbance estimation.
- Implemented a fractional-order nonsingular terminal sliding mode (FONTSM) control.
- Employed a novel switching-type reaching law.
Main Results:
- The ESO accurately estimated friction and nonlinear disturbances without model knowledge.
- FONTSM improved control accuracy and robustness.
- The switching-type reaching law ensured fast response and reduced chattering.
- Finite-time convergence and stability were proven using Lyapunov criteria.
Conclusions:
- The proposed hybrid control scheme demonstrates superior performance in trajectory tracking for electro-optical systems.
- The method offers enhanced accuracy, robustness, and reduced chattering compared to conventional approaches.
Related Concept Videos
01:24One-Degree-of-Freedom System
636
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
636
01:21Linear Approximation in Time Domain
197
Nonlinear systems often require sophisticated approaches for accurate modeling and analysis, with state-space representation being particularly effective. This method is especially useful for systems where variables and parameters vary with time or operating conditions, such as in a simple pendulum or a translational mechanical system with nonlinear springs.
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
197
01:22Controller Configurations
220
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
220
01:07Time-Domain Interpretation of PD Control
236
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
Consider the example of control of motor torque. Initially, a positive...
236
01:17Open and closed-loop control systems
1.3K
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
1.3K
01:26Feedback control systems
553
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
553