scholarly journals Novel Dynamic-Sliding-Mode-Manifold-Based Continuous Fractional-Order Nonsingular Terminal Sliding Mode Control for a Class of Second-Order Nonlinear Systems

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 19820-19829
Author(s):  
Rong Hu ◽  
Hua Deng ◽  
Yi Zhang
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Second Order ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode ◽  
Dynamic Sliding Mode

scholarly journals Nonsingular Terminal Sliding Mode Control of Uncertain Second-Order Nonlinear Systems

2015 ◽  
Vol 2015 ◽  
pp. 1-8 ◽  
Author(s):  
Minh-Duc Tran ◽  
Hee-Jun Kang
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Second Order ◽  
Lyapunov Theory ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode

This paper presents a high-performance nonsingular terminal sliding mode control method for uncertain second-order nonlinear systems. First, a nonsingular terminal sliding mode surface is introduced to eliminate the singularity problem that exists in conventional terminal sliding mode control. By using this method, the system not only can guarantee that the tracking errors reach the reference value in a finite time with high-precision tracking performance but also can overcome the complex-value and the restrictions of the exponent (the exponent should be fractional number with an odd numerator and an odd denominator) in traditional terminal sliding mode. Then, in order to eliminate the chattering phenomenon, a super-twisting higher-order nonsingular terminal sliding mode control method is proposed. The stability of the closed-loop system is established using the Lyapunov theory. Finally, simulation results are presented to illustrate the effectiveness of the proposed method.

Adaptive Fuzzy Fractional-Order Nonsingular Terminal Sliding Mode Control for a Class of Second-Order Nonlinear Systems

2018 ◽  
Vol 13 (3) ◽  
Author(s):  
Tran Minh Duc ◽  
Ngo Van Hoa ◽  
Thanh-Phong Dao
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Adaptive Learning ◽  
Sliding Mode ◽  
Second Order ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode

This paper investigates a novel adaptive fuzzy fractional-order nonsingular terminal sliding mode controller (AFFO-NTSMC) for second-order nonlinear dynamic systems. The technique of fractional calculus and nonsingular terminal sliding mode control (NTSMC) are combined to establish fractional-order NTSMC (FO-NTSMC), in which a new fractional-order (FO) nonsingular terminal sliding mode (NTSM) surface is proposed. Then, a corresponding controller is designed to provide robustness, high performance control, finite time convergence in the presence of uncertainties and external disturbances. Furthermore, a fuzzy system with online adaptive learning algorithm is derived to eliminate the chattering phenomenon in conventional sliding mode control (SMC). The stability of the closed-loop system is rigorously proven. Numerical simulation results are presented to demonstrate the effectiveness of the proposed control method.

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 Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles

2014 ◽  
Vol 2014 ◽  
pp. 1-19 ◽  
Author(s):  
Yaoyao Wang ◽  
Jiawang Chen ◽  
Linyi Gu
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Output Feedback ◽  
Finite Time ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Remotely Operated Vehicles ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode

For the 4-DOF (degrees of freedom) trajectory tracking control problem of underwater remotely operated vehicles (ROVs) in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC) technique is introduced in light of the equivalent output injection sliding mode observer (SMO) and TSMC principle and fractional calculus technology. The equivalent output injection SMO is applied to reconstruct the full states in finite time. Meanwhile, the FO-NTSMC algorithm, based on a new proposed fractional-order switching manifold, is designed to stabilize the tracking error to equilibrium points in finite time. The corresponding stability analysis of the closed-loop system is presented using the fractional-order version of the Lyapunov stability theory. Comparative numerical simulation results are presented and analyzed to demonstrate the effectiveness of the proposed method. Finally, it is noteworthy that the proposed output feedback FO-NTSMC technique can be used to control a broad range of nonlinear second-order dynamical systems in finite time.

scholarly journals Novel Nonsingular Fast Terminal Sliding Mode Control for a Class of Second-Order Uncertain Nonlinear Systems

2021 ◽  
Vol 2021 ◽  
pp. 1-18
Author(s):  
Huihui Pan ◽  
Guangming Zhang
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Second Order ◽  
Terminal Sliding Mode Control ◽  
Uncertain Nonlinear Systems ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

This paper presents a novel nonsingular fast terminal sliding mode control scheme for a class of second-order uncertain nonlinear systems. First, a novel nonsingular fast terminal sliding mode manifold (NNFTSM) with adaptive coefficients is put forward, and a novel double power reaching law (NDP) with dynamic exponential power terms is presented. Afterwards, a novel nonsingular fast terminal sliding mode (NNFTSMNDP) controller is designed by employing NNFTSM and NDP, which can improve the convergence rate and the robustness of the system. Due to the existence of external disturbances and parameter uncertainties, the system states under controller NNFTSMNDP cannot converge to the equilibrium but only to the neighborhood of the equilibrium in finite time. Considering the unsatisfying performance of controller NNFTSMNDP, an adaptive disturbance observer (ADO) is employed to estimate the lumped disturbance that is compensated in the controller in real-time. A novel composite controller is presented by combining the NNFTSMNDP method with the ADO technique. The finite-time stability of the closed-loop system under the proposed control method is proven by virtue of the Lyapunov stability theory. Both simulation results and theoretical analysis illustrate that the proposed method shows excellent control performance in the existence of disturbances and uncertainties.

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