Model‐free finite‐time terminal sliding mode control with a novel adaptive sliding mode observer of uncertain robot systems

2021 ◽  
Author(s):  
Tangzhong Song ◽  
Lijin Fang ◽  
Huaizhen Wang
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Sliding Mode Observer ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Adaptive Sliding Mode ◽  
Model Free ◽  
Robot Systems ◽  
Uncertain Robot

Fractional-order nonsingular terminal sliding mode control via a disturbance observer for a class of nonlinear systems with mismatched disturbances

2020 ◽  
pp. 107754632092526
Author(s):  
Amir Razzaghian ◽  
Reihaneh Kardehi Moghaddam ◽  
Naser Pariz
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Finite Time ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Nonsingular Terminal Sliding Mode

This study investigates a novel fractional-order nonsingular terminal sliding mode controller via a finite-time disturbance observer for a class of mismatched uncertain nonlinear systems. For this purpose, a finite-time disturbance observer–based fractional-order nonsingular terminal sliding surface is proposed, and the corresponding control law is designed using the Lyapunov stability theory to satisfy the sliding condition in finite time. The proposed fractional-order nonsingular terminal sliding mode control based on a finite-time disturbance observer exhibits better control performance; guarantees finite-time convergence, robust stability of the closed-loop system, and mismatched disturbance rejection; and alleviates the chattering problem. Finally, the effectiveness of the proposed fractional-order robust controller is illustrated via simulation results of both the numerical and application examples which are compared with the fractional-order nonsingular terminal sliding mode controller, sliding mode controller based on a disturbance observer, and integral sliding mode controller methods.

scholarly journals Robust Model-Free Nonsingular Terminal Sliding Mode Control for PMSM Demagnetization Fault

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 15737-15748 ◽  
Author(s):  
Kaihui Zhao ◽  
Tonghuan Yin ◽  
Changfan Zhang ◽  
Jing He ◽  
Xiangfei Li ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Model Free ◽  
Robust Model ◽  
Nonsingular Terminal Sliding Mode

Terminal Sliding Mode Control of the Flexible Manipulator

2014 ◽  
Vol 530-531 ◽  
pp. 1026-1031
Author(s):  
Sheng Li ◽  
Yi Qing Wang ◽  
Bao Lin Hou
Keyword(s):  
Linear System ◽  
Sliding Mode Control ◽  
Finite Time ◽  
State Feedback ◽  
Sliding Mode ◽  
Feedback Controller ◽  
Flexible Manipulators ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control

Aimed at the finite-time stabilization problem of a class of flexible manipulators, a stabilization controller based on terminal sliding mode control was proposed in this paper. Firstly, the nonlinear model of flexible manipulators was transformed into linear system through the exact state feedback linearization. Based on the finite time stabilization control method of the linear system, a stabilization controller based on terminal sliding mode control was designed for the flexible manipulators. Furthermore, it was proved that all the states of flexible manipulators could be stabilized to equilibrium in finite time with the proposed controller. The simulation results showed that the performance of the flexible manipulators with the proposed finite-time state feedback controller was effective. At last, the analysis and comparison of the proposed controller and the finite-time state feedback controller were given.

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