Finite-time disturbance observer based non-singular integral terminal sliding mode trajectory tracking control of unmanned surface vehicles

2016 ◽  
Author(s):  
Shuailin Lv ◽  
Ning Wang ◽  
Xiaoling Liang ◽  
Meng Joo Er
Keyword(s):  
Singular Integral ◽  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode ◽  
Unmanned Surface Vehicles

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.

Adaptive Sliding Mode Disturbance Observer Based Composite Trajectory Tracking Control for Robot Manipulator With Prescribed Performance

2021 ◽  
Author(s):  
Danni Shi ◽  
Jinhui Zhang ◽  
Zhongqi Sun ◽  
Yuanqing Xia
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode ◽  
Prescribed Performance ◽  
Adaptive Sliding Mode ◽  
Sliding Mode Disturbance Observer

Abstract In this paper, the problem of the composite trajectory tracking control for robot manipulator with lumped uncertainties including unmodeled dynamics and external disturbances is investigated. To achieve the active disturbance rejection, the adaptive sliding mode disturbance observer is proposed to estimate the unknown lumped uncertainties in the absence of the prior upper bound information on the lumped uncertainties. Then, by combining the non-singular terminal sliding mode control and prescribed performance control approaches, the composite trajectory tracking controller is designed, and not only the finite-time convergence of the trajectory tracking errors, but also the prescribed performances are guaranteed. Finally, by applying the proposed control scheme to a two-DOF manipulator system, the effectiveness and advantages are verified by numerical simulations.

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