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 Second Order Sliding Mode Control of the Coupled Tanks System

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Fayiz Abu Khadra ◽  
Jaber Abu Qudeiri
Keyword(s):  
Performance Measures ◽  
Sliding Mode ◽  
Absolute Error ◽  
Second Order ◽  
Liquid Level ◽  
First Order ◽  
Sliding Mode Controllers ◽  
The Time Domain ◽  
Domain Performance ◽  
Second Order Sliding Mode

Four classes of second order sliding mode controllers (2-SMC) have been successfully applied to regulate the liquid level in the second tank of a coupled tanks system. The robustness of these classes of 2-SMC is investigated and their performances are compared with a first order controller to show the merits of these controllers. The effectiveness of these controllers is verified through computer simulations. Comparison between the controllers is based on the time domain performance measures such as rise time, settling time, and the integral absolute error. Results showed that controllers are able to regulate the liquid level with small differences in their performance.

Robust spacecraft attitude tracking control with integral terminal sliding mode surface considering input saturation

2018 ◽  
Vol 41 (2) ◽  
pp. 405-416 ◽  
Author(s):  
Haitao Chen ◽  
Shenmin Song ◽  
Xuehui Li
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
External Disturbance ◽  
Input Saturation ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Modeling Uncertainty ◽  
Finite Time Convergence ◽  
Attitude Tracking ◽  
Attitude Tracking Control

This paper studies the finite time spacecraft attitude tracking control problem, while considering modeling uncertainty, external disturbances and control input saturation. A novel integral terminal sliding mode surface (ITSMS) is designed by combining the fast terminal sliding mode surface (FTSMS) with a low pass filter to achieve a fast finite time convergence rate for the control system, without input singularity. An auxiliary signal is used to compensate for the effects of actuator saturation. The basic controller is first formulated based on the ITSMS, fast-TSM-type reaching law and auxiliary system, in the presence of an external disturbance and input saturation. Then, an adaptive control procedure is introduced, which simultaneously handles modeling uncertainty and external disturbance, thereby creating an adaptive attitude tracking controller. The proposed controller provides a fast finite time convergence rate for the control system, based on the newly designed ITSMS, while simultaneously compensating for modeling uncertainty, external disturbances and input saturation, without restricting the parameter selection process nor requiring repeated differentiation of nonlinear functions. Finally, digital simulation results are presented and demonstrate the effectiveness of the proposed controllers.

Robust path-following control for a fully actuated marine surface vessel with composite nonlinear feedback

2017 ◽  
Vol 40 (12) ◽  
pp. 3477-3488 ◽  
Author(s):  
Chuan Hu ◽  
Rongrong Wang ◽  
Fengjun Yan ◽  
Mohammed Chadli ◽  
Yanjun Huang ◽  
...  
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Path Following ◽  
Nonlinear Feedback ◽  
External Disturbances ◽  
Composite Nonlinear Feedback ◽  
Finite Time Convergence ◽  
Path Following Control ◽  
Marine Surface ◽  
Surface Vessel

This paper presents a fast and accurate robust path-following control approach for a fully actuated marine surface vessel in the presence of external disturbances. The path following is realized by simultaneously converging the yaw rate and sway velocity to their respective desired values, which are generated according to the path-following demand. An improved combined control strategy using an integral terminal sliding mode (ITSM) based composite nonlinear feedback (CNF) technique considering the external disturbances, time-varying tracking reference, input saturations and transient performance improvement is proposed in this study. The proposed ITSM-CNF combines the advantages of the CNF control in improving the transient performance and of the ITSM control in guaranteeing good robustness and finite-time convergence. A continuous and smooth sliding mode controller, based on an integral nonsingular terminal sliding surface, is added to the CNF controller to eliminate chattering. The overall stability of the closed-loop system is strictly proved based on the Lyapunov method. Simulations verify the effectiveness of the ITSM-CNF controller in improving the transient path-following performance, inhibiting overshoots, eliminating steady-state errors, rejecting external disturbances and removing chattering effects, considering input saturations, varying path curvature and finite-time convergence.

scholarly journals RBFNN-Based Singularity-Free Terminal Sliding Mode Control for Uncertain Quadrotor UAVs

2021 ◽  
Vol 2021 ◽  
pp. 1-10 ◽  
Author(s):  
Meiling Tao ◽  
Xiongxiong He ◽  
Shuzong Xie ◽  
Qiang Chen
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Auxiliary Function ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Finite Time Convergence ◽  
Time Control ◽  
Control Scheme ◽  
Unknown Disturbances ◽  
Quadrotor Unmanned Aerial Vehicles

In this article, a singularity-free terminal sliding mode (SFTSM) control scheme based on the radial basis function neural network (RBFNN) is proposed for the quadrotor unmanned aerial vehicles (QUAVs) under the presence of inertia uncertainties and external disturbances. Firstly, a singularity-free terminal sliding mode surface (SFTSMS) is constructed to achieve the finite-time convergence without any piecewise continuous function. Then, the adaptive finite-time control is designed with an auxiliary function to avoid the singularity in the error-related inverse matrix. Moreover, the RBFNN and extended state observer (ESO) are introduced to estimate the unknown disturbances, respectively, such that prior knowledge on system model uncertainties is not required for designing attitude controllers. Finally, the attitude and angular velocity errors are finite-time uniformly ultimately bounded (FTUUB), and numerical simulations illustrated the satisfactory performance of the designed control scheme.

scholarly journals Adaptive temperature controller for plastic extrusion process

2020 ◽  
pp. 10-17
Author(s):  
Jesús GUERRERO ◽  
Julio GONZÁLEZ ◽  
Martin CHIMAL
Keyword(s):  
Sliding Mode Control ◽  
Computer Simulations ◽  
Trajectory Tracking ◽  
Finite Time ◽  
Sliding Mode ◽  
Extrusion Process ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Temperature Controller ◽  
Finite Time Convergence

In this paper, an adaptive temperature controller for the plastic extrusion process is designed. The proposed controller aims to solve the set-point regulation problem and the temperature trajectory tracking of a plastic extrusion process. The controller is an adaptive version of the First Sliding Mode Control which is robust towards parametric uncertainties and external disturbances. Also, the finite time convergence is demonstrated by Lyapunov arguments. Finally, the effectiveness of the proposed controller under several scenarios is demonstrated by computer simulations.

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