A high-order sliding mode variable structure guidance law with finite time convergence

2016 ◽  
Author(s):  
Hongyu Zhao ◽  
Mingang Wang ◽  
Ximing Zhang ◽  
Tao Zhang
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Variable Structure ◽  
High Order ◽  
Finite Time Convergence ◽  
Guidance Law ◽  
Sliding Mode Variable Structure

Angular Velocity Stabilization of a Rigid Body Via VSS Control

2000 ◽  
Vol 122 (4) ◽  
pp. 669-673 ◽  
Author(s):  
T. Floquet ◽  
W. Perruquetti ◽  
J.-P. Barbot
Keyword(s):  
Angular Velocity ◽  
Rigid Body ◽  
Finite Time ◽  
Sliding Mode ◽  
Variable Structure ◽  
External Disturbances ◽  
First Order ◽  
Finite Time Convergence ◽  
Sliding Mode Controllers ◽  
Second Order Sliding Mode

This paper is devoted to the stabilization of the angular velocity of a rigid body via variable structure based controllers. The system is supposed to have only two control torques and to be subject to external disturbances. A finite time convergence is obtained by switching between a first-order and a second-order sliding mode controllers. [S0022-0434(00)00304-X]

scholarly journals Model-Free High Order Sliding Mode Control with Finite-Time Tracking for Unmanned Underwater Vehicles

2021 ◽  
Vol 11 (4) ◽  
pp. 1836
Author(s):  
Josué González-García ◽  
Néstor Alejandro Narcizo-Nuci ◽  
Luis Govinda García-Valdovinos ◽  
Tomás Salgado-Jiménez ◽  
Alfonso Gómez-Espinosa ◽  
...  
Keyword(s):  
Neural Network ◽  
Power Consumption ◽  
Finite Time ◽  
Sliding Mode ◽  
Underwater Vehicles ◽  
High Order ◽  
Time Base ◽  
Unmanned Underwater Vehicles ◽  
Finite Time Convergence ◽  
Model Free

Several strategies to deal with the trajectory tracking problem of Unmanned Underwater Vehicles are encountered, from traditional controllers such as Proportional Integral Derivative (PID) or Lyapunov-based, to backstepping, sliding mode, and neural network approaches. However, most of them are model-based controllers where it is imperative to have an accurate knowledge of the vehicle hydrodynamic parameters. Despite some sliding mode and neural network-based controllers are reported as model-free, just a few of them consider a solution with finite-time convergence, which brings strong robustness and fast convergence compared with asymptotic or exponential solutions and it can also help to reduce the power consumption of the vehicle thrusters. This work aims to implement a model-free high-order sliding-mode controller and synthesize it with a time-base generator to achieve finite-time convergence. The time-base was included by parametrizing the control gain at the sliding surface. Numerical simulations validated the finite-time convergence of the controller for different time-bases even in the presence of high ocean currents. The performance of the obtained solution was also evaluated by the Root Mean Square (RMS) value of the control coefficients computed for the thrusters, as a parameter to measure the power consumption of the vehicle when following a trajectory. Computational results showed a reduction of up to 50% in the power consumption from the thrusters when compared with other solutions.

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