scholarly journals A Non-Singular Fast Terminal Sliding Mode Control Based on Third-Order Sliding Mode Observer for a Class of Second-Order Uncertain Nonlinear Systems and its Application to Robot Manipulators

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 78109-78120 ◽  
Author(s):  
Van-Cuong Nguyen ◽  
Anh-Tuan Vo ◽  
Hee-Jun Kang
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Robot Manipulators ◽  
Sliding Mode Observer ◽  
Terminal Sliding Mode Control ◽  
Uncertain Nonlinear Systems ◽  
Third Order ◽  
Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode

scholarly journals Nonsingular Fast Terminal Sliding Mode Tracking Control for a Class of Uncertain Nonlinear Systems

2019 ◽  
Vol 2019 ◽  
pp. 1-17
Author(s):  
Siyi Chen ◽  
Wei Liu ◽  
Huixian Huang
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Uncertain Nonlinear Systems ◽  
Terminal Sliding Mode ◽  
Rbf Network ◽  
Fast Terminal Sliding Mode

Aiming at the tracking control problem of a class of uncertain nonlinear systems, a nonsingular fast terminal sliding mode control scheme combining RBF network and disturbance observer is proposed. The sliding mode controller is designed by using nonsingular fast terminal sliding mode and second power reaching law to solve the problem of singularity and slow convergence in traditional terminal sliding mode control. By using the universal approximation of RBF network, the unknown nonlinear function of the system is approximated, and the disturbance observer is designed by using the hyperbolic tangent nonlinear tracking differentiator (TANH-NTD) to estimate the interference of the system and enhance the robustness of the system. The stability of the system is proved by the Lyapunov principle. The numerical simulation results show that the method can shorten the system arrival time, improve the tracking accuracy, and suppress the chattering phenomenon.

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.

Sign in / Sign up

Export Citation Format

Share Document