Fixed-Time Synergetic Control-Based Chaos Suppression for Eighth-Order IFOCIM Drive System

2021 ◽  
Vol 31 (09) ◽  
pp. 2150131
Author(s):  
Ahmed Sadeq Hunaish ◽  
Fadhil Rahma Tahir
Keyword(s):  
Upper Bound ◽  
Control Method ◽  
Induction Machine ◽  
Fixed Time ◽  
Drive System ◽  
Convergence Time ◽  
Eighth Order ◽  
Chaos Suppression ◽  
Chattering Free ◽  
Synergetic Control

This paper investigates chaos suppression in widely used indirect field oriented controlled induction machine (IFOCIM) drive system using fixed-time synergetic control method. The complex eighth-order IFOCIM drive system shows chaotic oscillations during a specific range of the integral gain of the PI speed controller. The conventional synergetic control method is improved by employing the fixed-time theory, the characteristics of the designed controller are chattering free and the convergence time is limited within a fixed-time upper bound depending on the controller parameters. The fixed-time synergetic control method is used to converge a selected macro variable to the origin within the fixed time upper bound. The controller can stabilize the chaotic system dynamics in a good way within a short time.

scholarly journals Adaptive Fast Nonsingular Fixed-Time Tracking Control for Robot Manipulators

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-16
Author(s):  
Huihui Pan ◽  
Guangming Zhang
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Robot Manipulators ◽  
Fixed Time ◽  
Convergence Time ◽  
Trajectory Tracking Control ◽  
Uncertain Dynamics ◽  
Adaptive Technique

This paper studies the fixed-time trajectory tracking control problem of robot manipulators in the presence of uncertain dynamics and external disturbances. First, a novel nonsingular fixed-time sliding mode surface is presented, which can ensure that the convergence time of the suggested surface is bounded regardless of the initial states. Subsequently, a novel fast nonsingular fixed-time sliding mode control (NFNFSMC) is developed so that the closed-loop system is fixed-time convergent to the equilibrium. By applying the proposed NFNFSMC method and the adaptive technique, a novel adaptive nonsingular fixed-time control scheme is proposed, which can guarantee fast fixed-time convergence of the tracking errors to small regions around the origin. With the proposed control method, the lumped disturbance is compensated by the adaptive technique, whose prior information about the upper bound is not needed. The fixed-time stability of the trajectory tracking control under the proposed controller is proved by the Lyapunov stability theory. Finally, corresponding simulations are given to illustrate the validity and superiority of the proposed control approach.

scholarly journals Adaptive chattering-free terminal sliding-mode control for full-order nonlinear system with unknown disturbances and model uncertainties

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142092529
Author(s):  
Lei Wan ◽  
Guofang Chen ◽  
Mingwei Sheng ◽  
Yinghao Zhang ◽  
Ziyang Zhang
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Upper Bound ◽  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Control Law ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode ◽  
Chattering Free

This study investigates an adaptive chattering-free sliding-mode control method for n-order nonlinear systems with unknown external disturbances and uncertain models. The proposed method takes the advantage of finite-time fast convergence to avoid singularity problem and ensure its robustness against system uncertainty and unknown disturbance. To achieve fast convergence from any initial condition to system origin, a full-order terminal sliding-mode controller containing differential terms is proposed based on the property of n-order nonlinear systems. Then the continuous and smooth actual control law is obtained by integrating the differential control law containing the discontinuous sign function to realize chattering free. Meanwhile, instead of evaluating the fixed upper bound of system uncertainty and interference in practical implementations, an adaptive method is utilized for its unknown upper bound estimation. The convergence of the adaptive terminal sliding-mode controller in finite time is verified based on Lyapunov stability theory. Finally, two simulation results demonstrate the effectiveness of the proposed control method.

scholarly journals Fixed-Time Third-Order Super-Twisting-like Sliding Mode Motion Control for Piezoelectric Nanopositioning Stage

Mathematics ◽  
2021 ◽  
Vol 9 (15) ◽  
pp. 1770
Author(s):  
Guangwei Wang ◽  
Bo Wang ◽  
Chengxi Zhang
Keyword(s):  
Sliding Mode ◽  
Initial Conditions ◽  
Fixed Time ◽  
Convergence Time ◽  
Continuous Control ◽  
Third Order ◽  
External Disturbances ◽  
Practical Applications ◽  
Chattering Free ◽  
Response Performance

This paper presents a novel third-order super-twisting-like integral sliding mode controller (3-ISMC) for trajectory tracking of nanopositioning applications. Different from traditional sliding mode control methods presenting with chattering problems, the proposed approach provides continuous control inputs, which brings much convenience for practical applications. Moreover, the fixed-time convergence of the proposed 3-ISMC is guaranteed independently of initial conditions. The estimation of the fixed convergence time and stability are derived based on the Lyapunov method. Simulation results demonstrate that the proposed controller exhibits chattering free and quick transient response performance for a piezoelectric nanopositioning system under model uncertainties and external disturbances.

scholarly journals Stabilization with Prescribed Instant for High-Order Integrator Systems

2021 ◽  
Author(s):  
Jiyuan Kuang ◽  
Jianxing Liu ◽  
Yabin Gao ◽  
Chih-Chiang Chen ◽  
Xiaoju Zhang ◽  
...  
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Fixed Time ◽  
Time Instant ◽  
Convergence Time ◽  
Human Beings ◽  
Time Stability ◽  
Finite Time Stability ◽  
System States ◽  
The Impact

<p>This paper is a research related to finite-time stability. Different from traditional fixed-time, predefined-time, and prescribed time stability that more or less have some conservativeness, we manage to stabilize system states onto the equilibrium at an arbitrarily selected time instant irrespective of initial system states and parameters. In another word, the conservativeness of convergence time in our proposed control method is proved to be zero. Moreover, the control is bounded and also gradually goes to zero at the selected instant. It is obviously an improvement compared with the existing finite-time stabilization (FNTS), such as fixed-time stabilization (FTS), predefined-time stabilization (PDTS), and prescribed-time stabilization (PSTS).</p><p>The FNTS property is of great interest for scenarios where real-time constraints need to be satisfied, e.g., in missile guidance, the impact time control guidance laws require stabilization in a desired time. Our proposed PSIS can deal with the FNTS problems.</p><p> </p><p>For other tasks with more accurate requirement on time, the FTS, the PDTS, and the PSTS are insufficient. For instant, two robot arms playing the piano. Music has its’ rhythm, each note is expected to appear at a specific time instant, or the music will sounds terrible. There are many other tasks that are easy for human beings but difficult for robots, e.g.. dancing and sports. The author think it is because human have rhythm feeling, while robots have not. Hence, it is important to develop such control methodologies.<br></p><p></p>

Fixed-time synergetic control for chaos suppression in endocrine glucose–insulin regulatory system

2021 ◽  
Vol 108 ◽  
pp. 104723
Author(s):  
Abdul-Basset A. Al-Hussein ◽  
Fadhil Rahma Tahir ◽  
Viet-Thanh Pham
Keyword(s):  
Regulatory System ◽  
Fixed Time ◽  
Chaos Suppression ◽  
Synergetic Control

scholarly journals A Novel Decentralized Fixed-Time Tracking Control for Modular Robot Manipulators: Theoretical and Experimental Verification

2021 ◽  
Author(s):  
Zengpeng Lu ◽  
Yuanchun Li ◽  
Yan Li
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Robot Manipulators ◽  
Fixed Time ◽  
Convergence Time ◽  
Modular Robot ◽  
Total Uncertainty ◽  
Control Approach ◽  
Time Control ◽  
Tracking Ability

Abstract This paper presents a novel decentralized fixed-time tracking control approach, which realizes the advantages of modular robot manipulators (MRMs) with fixed-time convergence, strong robustness, and high tracking performance. First, to estimate the total uncertainty of MRMs, the fixed-time observer based on the extended state is developed. Then, combined with the disturbance observer, a novel decentralized control method based on a fixed-time control strategy was devised to accomplish global fixed-time convergence of MRMs. And, stability analysis based on Lyapunov is utilized to obtain the fixed-time stability as well as convergence time of MRMs. Finally, numerical analysis and experiment respectively verify the excellent tracking ability of the presented decentralized fixed-time tracking control.

scholarly journals Stabilization with Prescribed Instant for High-Order Integrator Systems

2021 ◽  
Author(s):  
Jiyuan Kuang ◽  
Jianxing Liu ◽  
Yabin Gao ◽  
Chih-Chiang Chen ◽  
Xiaoju Zhang ◽  
...  
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Fixed Time ◽  
Time Instant ◽  
Convergence Time ◽  
Human Beings ◽  
Time Stability ◽  
Finite Time Stability ◽  
System States ◽  
The Impact

<p>This paper is a research related to finite-time stability. Different from traditional fixed-time, predefined-time, and prescribed time stability that more or less have some conservativeness, we manage to stabilize system states onto the equilibrium at an arbitrarily selected time instant irrespective of initial system states and parameters. In another word, the conservativeness of convergence time in our proposed control method is proved to be zero. Moreover, the control is bounded and also gradually goes to zero at the selected instant. It is obviously an improvement compared with the existing finite-time stabilization (FNTS), such as fixed-time stabilization (FTS), predefined-time stabilization (PDTS), and prescribed-time stabilization (PSTS).</p><p>The FNTS property is of great interest for scenarios where real-time constraints need to be satisfied, e.g., in missile guidance, the impact time control guidance laws require stabilization in a desired time. Our proposed PSIS can deal with the FNTS problems.</p><p> </p><p>For other tasks with more accurate requirement on time, the FTS, the PDTS, and the PSTS are insufficient. For instant, two robot arms playing the piano. Music has its’ rhythm, each note is expected to appear at a specific time instant, or the music will sounds terrible. There are many other tasks that are easy for human beings but difficult for robots, e.g.. dancing and sports. The author think it is because human have rhythm feeling, while robots have not. Hence, it is important to develop such control methodologies.<br></p><p></p>

scholarly journals Continuous Control Set Predictive Current Control for Induction Machine

2021 ◽  
Vol 11 (13) ◽  
pp. 6230
Author(s):  
Toni Varga ◽  
Tin Benšić ◽  
Vedrana Jerković Štil ◽  
Marinko Barukčić
Keyword(s):  
Control Method ◽  
Induction Machine ◽  
Current Control ◽  
Continuous Control ◽  
Loop Model ◽  
Voltage Reference ◽  
Control Loop ◽  
Speed Tracking ◽  
Finite Control ◽  
Control Set

A speed tracking control method for induction machine is shown in this paper. The method consists of outer speed control loop and inner current control loop. Model predictive current control method without the need for calculation of the weighing factors is utilized for the inner control loop, which generates a continuous set of voltage reference values that can be modulated and applied by the inverter to the induction machine. Interesting parallels are drawn between the developed method and state feedback principles that helped with the analysis of the stability and controllability. Simple speed and rotor flux estimator is implemented that helps achieve sensorless control. Simulation is conducted and the method shows great performance for speed tracking in a steady state, and during transients as well. Additionally, compared to the finite control set predictive current control, it shows less harmonic content in the generated torque on the rotor shaft.

Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

2021 ◽  
pp. 095965182110277
Author(s):  
Abdelkrim Brahmi ◽  
Maarouf Saad ◽  
Brahim Brahmi ◽  
Ibrahim El Bojairami ◽  
Guy Gauthier ◽  
...  
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Robust Adaptive Control ◽  
Convergence Time ◽  
Adaptive Sliding Mode Control ◽  
Mobile Manipulator ◽  
Control Law ◽  
Adaptive Tracking Control ◽  
Robust Adaptive ◽  
Manipulator Robot

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

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