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

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 work...

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Autores principales:	Lihui Liao, Baoren Li, Yuanyuan Wang, Tengfei Tang, Dijia Zhang, Gang Yang
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	deep-sea electric oil-filled joint actuator robust control non-singular fast-terminal sliding mode control (NFTSMC) extended state observer (ESO) prescribed performance control Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/ad27b172777d4150a53f5ea451532b05
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spelling	oai:doaj.org-article:ad27b172777d4150a53f5ea451532b052021-11-11T15:11:34ZPrescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator10.3390/app1121101302076-3417https://doaj.org/article/ad27b172777d4150a53f5ea451532b052021-10-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/21/10130https://doaj.org/toc/2076-3417High 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.Lihui LiaoBaoren LiYuanyuan WangTengfei TangDijia ZhangGang YangMDPI AGarticledeep-sea electric oil-filled joint actuatorrobust controlnon-singular fast-terminal sliding mode control (NFTSMC)extended state observer (ESO)prescribed performance controlTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 10130, p 10130 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	deep-sea electric oil-filled joint actuator robust control non-singular fast-terminal sliding mode control (NFTSMC) extended state observer (ESO) prescribed performance control Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	deep-sea electric oil-filled joint actuator robust control non-singular fast-terminal sliding mode control (NFTSMC) extended state observer (ESO) prescribed performance control Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Lihui Liao Baoren Li Yuanyuan Wang Tengfei Tang Dijia Zhang Gang Yang Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator
description	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.
format	article
author	Lihui Liao Baoren Li Yuanyuan Wang Tengfei Tang Dijia Zhang Gang Yang
author_facet	Lihui Liao Baoren Li Yuanyuan Wang Tengfei Tang Dijia Zhang Gang Yang
author_sort	Lihui Liao
title	Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator
title_short	Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator
title_full	Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator
title_fullStr	Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator
title_full_unstemmed	Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator
title_sort	prescribed performance non-singular fast terminal sliding mode control based on extended state observer for a deep-sea electric oil-filled joint actuator
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/ad27b172777d4150a53f5ea451532b05
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Prescribed Performance Non-Singular Fast Terminal Sliding Mode Control Based on Extended State Observer for a Deep-Sea Electric Oil-Filled Joint Actuator

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