Based on a Finite Time Convergence Terminal Sliding Mode of Air Cushion Vehicle Safety Sailing Trajectory Angle Control

2018 ◽  
Author(s):  
Fuguang Ding ◽  
Guojun Li
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Vehicle Safety ◽  
Terminal Sliding Mode ◽  
Finite Time Convergence ◽  
Air Cushion ◽  
Air Cushion Vehicle ◽  
Trajectory Angle

A New Finite Time Control Solution for Robotic Manipulators Based on Nonsingular Fast Terminal Sliding Variables and the Adaptive Super-Twisting Scheme

2019 ◽  
Vol 14 (3) ◽  
Author(s):  
Vo Anh Tuan ◽  
Hee-Jun Kang
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Control Law ◽  
Continuous Control ◽  
Terminal Sliding Mode ◽  
Finite Time Convergence ◽  
Position Errors ◽  
Time Control

In this study, a new finite time control method is suggested for robotic manipulators based on nonsingular fast terminal sliding variables and the adaptive super-twisting method. First, to avoid the singularity drawback and achieve the finite time convergence of positional errors with a fast transient response rate, nonsingular fast terminal sliding variables are constructed in the position errors' state space. Next, adaptive tuning laws based on the super-twisting scheme are presented for the switching control law of terminal sliding mode control (TSMC) so that a continuous control law is extended to reject the effects of chattering behavior. Finally, a new finite time control method ensures that sliding motion will take place, regardless of the effects of the perturbations and uncertainties on the robot system. Accordingly, the stabilization and robustness of the suggested control system can be guaranteed with high-precision performance. The robustness issue and the finite time convergence of the suggested system are totally confirmed by the Lyapunov stability principle. In simulation studies, the experimental results exhibit the effectiveness and viability of our proposed scheme for joint position tracking control of a 3DOF PUMA560 robot.

Robust spacecraft attitude tracking control with integral terminal sliding mode surface considering input saturation

2018 ◽  
Vol 41 (2) ◽  
pp. 405-416 ◽  
Author(s):  
Haitao Chen ◽  
Shenmin Song ◽  
Xuehui Li
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
External Disturbance ◽  
Input Saturation ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Modeling Uncertainty ◽  
Finite Time Convergence ◽  
Attitude Tracking ◽  
Attitude Tracking Control

This paper studies the finite time spacecraft attitude tracking control problem, while considering modeling uncertainty, external disturbances and control input saturation. A novel integral terminal sliding mode surface (ITSMS) is designed by combining the fast terminal sliding mode surface (FTSMS) with a low pass filter to achieve a fast finite time convergence rate for the control system, without input singularity. An auxiliary signal is used to compensate for the effects of actuator saturation. The basic controller is first formulated based on the ITSMS, fast-TSM-type reaching law and auxiliary system, in the presence of an external disturbance and input saturation. Then, an adaptive control procedure is introduced, which simultaneously handles modeling uncertainty and external disturbance, thereby creating an adaptive attitude tracking controller. The proposed controller provides a fast finite time convergence rate for the control system, based on the newly designed ITSMS, while simultaneously compensating for modeling uncertainty, external disturbances and input saturation, without restricting the parameter selection process nor requiring repeated differentiation of nonlinear functions. Finally, digital simulation results are presented and demonstrate the effectiveness of the proposed controllers.

scholarly journals Finite-Time Terminal Sliding Mode Tracking Control of a VTOL UAV via the Generalized NDOB

2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Lu Wang ◽  
Jianhua Cheng
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Convergence Result ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode ◽  
Loop Control ◽  
Finite Time Convergence ◽  
Vtol Uav

In this paper, we propose a finite-time sliding mode trajectory tracking control methodology for the vertical takeoff and landing unmanned aerial vehicle (VTOL UAV). Firstly, a system error model of trajectory tracking task is established based on Rodrigues parameters by considering both external and internal uncertainties. According to the cascade property, the system model is divided into translational and rotational subsystems, and a hierarchical control structure is hence proposed. Then, a finite-time generalized nonlinear disturbance observer (NDOB) is proposed, based on which the finite-time convergence result of equivalent disturbance estimation can be acquired. Finally, by introducing a tan-type compensator into the traditional terminal sliding mode control (SMC), the finite-time convergence result of the closed-loop control system is acquired based on Lyapunov stability analysis. Simulation results show the effectiveness of the proposed methodology.

scholarly journals RBFNN-Based Singularity-Free Terminal Sliding Mode Control for Uncertain Quadrotor UAVs

2021 ◽  
Vol 2021 ◽  
pp. 1-10 ◽  
Author(s):  
Meiling Tao ◽  
Xiongxiong He ◽  
Shuzong Xie ◽  
Qiang Chen
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Auxiliary Function ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Finite Time Convergence ◽  
Time Control ◽  
Control Scheme ◽  
Unknown Disturbances ◽  
Quadrotor Unmanned Aerial Vehicles

In this article, a singularity-free terminal sliding mode (SFTSM) control scheme based on the radial basis function neural network (RBFNN) is proposed for the quadrotor unmanned aerial vehicles (QUAVs) under the presence of inertia uncertainties and external disturbances. Firstly, a singularity-free terminal sliding mode surface (SFTSMS) is constructed to achieve the finite-time convergence without any piecewise continuous function. Then, the adaptive finite-time control is designed with an auxiliary function to avoid the singularity in the error-related inverse matrix. Moreover, the RBFNN and extended state observer (ESO) are introduced to estimate the unknown disturbances, respectively, such that prior knowledge on system model uncertainties is not required for designing attitude controllers. Finally, the attitude and angular velocity errors are finite-time uniformly ultimately bounded (FTUUB), and numerical simulations illustrated the satisfactory performance of the designed control scheme.

scholarly journals An Active Fault-Tolerant Control for Robotic Manipulators Using Adaptive Non-Singular Fast Terminal Sliding Mode Control and Disturbance Observer

Actuators ◽  
2021 ◽  
Vol 10 (12) ◽  
pp. 332
Author(s):  
Van-Cuong Nguyen ◽  
Phu-Nguyen Le ◽  
Hee-Jun Kang
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Disturbance Observer ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Finite Time Convergence ◽  
Fast Terminal Sliding Mode

In this study, a fault-tolerant control (FTC) tactic using a sliding mode controller–observer method for uncertain and faulty robotic manipulators is proposed. First, a finite-time disturbance observer (DO) is proposed based on the sliding mode observer to approximate the lumped uncertainties and faults (LUaF). The observer offers high precision, quick convergence, low chattering, and finite-time convergence estimating information. Then, the estimated signal is employed to construct an adaptive non-singular fast terminal sliding mode control law, in which an adaptive law is employed to approximate the switching gain. This estimation helps the controller automatically adapt to the LUaF. Consequently, the combination of the proposed controller–observer approach delivers better qualities such as increased position tracking accuracy, reducing chattering effect, providing finite-time convergence, and robustness against the effect of the LUaF. The Lyapunov theory is employed to illustrate the robotic system’s stability and finite-time convergence. Finally, simulations using a 2-DOF serial robotic manipulator verify the efficacy of the proposed method.

Disturbance observer and finite-time tracker design of disturbed third-order nonholonomic systems using terminal sliding mode

2016 ◽  
Vol 23 (2) ◽  
pp. 181-189 ◽  
Author(s):  
Saleh Mobayen ◽  
Shamsi Javadi
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Approximation Error ◽  
Nonholonomic Systems ◽  
Control Technique ◽  
Third Order ◽  
Terminal Sliding Mode ◽  
Finite Time Convergence

This paper proposes a novel recursive terminal sliding mode structure for tracking control of third-order chained–form nonholonomic systems in the presence of the unknown external disturbances. Finite-time convergence of the disturbance approximation error is guaranteed using the designed disturbance observer. Under the proposed terminal sliding model tracking control technique, the finite-time convergence of the states of the closed-loop system is guaranteed via Lyapunov analysis. A new reaching control law is proposed to guarantee the existence of the sliding mode around the recursive TSM surface in a finite-time. Simulation results are illustrated on a benchmark example of third-order chained-form nonholonomic systems: a wheeled mobile robot. The results demonstrate that the proposed control technique achieves promising tracking performance for nonholonomic systems.

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