Fault-Tolerant Attitude Controller Design for Deep Space Probe Via Adaptive Fast Terminal Sliding Mode Control

2019 ◽  
Vol 141 (9) ◽  
Author(s):  
Ruiyun Qi ◽  
Weiwei Su ◽  
Yizhen Meng
Keyword(s):  
Sliding Mode Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Space Probe ◽  
Deep Space ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode ◽  
Attitude Controller

For deep space probe subject to uncertain time-varying inertia matrix, unknown external disturbances, actuator faults, and misalignment, a fault-tolerant attitude controller is designed in this paper, which is based on adaptive control and fast terminal sliding mode control (FTSMC) theories. A new method to handle actuator uncertainties is developed, which redefines the effectiveness matrix and the misalignment matrix. Moreover, an explicit sufficient condition is presented in order to construct the fault-tolerant attitude controller. The proposed controller can stabilize the attitude control system with a fast convergence rate and high precision. Simulations results demonstrate the superior performance of the proposed controller.

Fault tolerant control for robotic manipulator using fractional-order backstepping fast terminal sliding mode control

2021 ◽  
pp. 014233122110224
Author(s):  
Zeeshan Anjum ◽  
Yu Guo ◽  
Wei Yao
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Actuator Faults ◽  
Terminal Sliding Mode ◽  
Control Approach ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

In this paper, the problems of tracking control and finite-time stabilization of a high nonlinear system such as a robotic manipulator in the presence of actuator faults, uncertainties, and external disturbances are explored. In order to improve the performance of the system in the presence of actuator faults, uncertainties and external disturbances a novel fault tolerant control system based on fractional-order backstepping fast terminal sliding mode control is developed in this paper. The control system is developed by employing the results obtained from studies in the fields of fractional-order calculus, backstepping, sliding mode control, Mittag–Leffler stability, and finite-time Lyapunov stability. The performance of the suggested controller is then tested for a PUMA560 robot in which the first three joints are used. The simulation results validate the usefulness of the developed control approach in terms of accuracy of tracking, and convergence speed in the presence of disturbances, uncertainties and actuator faults. The trajectory tracking performance of the developed method is compared with other state of the art approaches such as conventional computed torque control, proportional integral derivative control and nonsingular fast terminal sliding mode control. The simulation results show that the proposed control approach performed better as compared to other control approaches in the presence of actuator faults, uncertainties, and disturbances.

scholarly journals Finite-Time Attitude Fault Tolerant Control of Quadcopter System via Neural Networks

Mathematics ◽  
2020 ◽  
Vol 8 (9) ◽  
pp. 1541 ◽  
Author(s):  
Ngoc Phi Nguyen ◽  
Nguyen Xuan Mung ◽  
Le Nhu Ngoc Thanh Ha ◽  
Tuan Tu Huynh ◽  
Sung Kyung Hong
Keyword(s):  
Sliding Mode Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Terminal Sliding Mode Control ◽  
Actuator Faults ◽  
Model Uncertainties ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

This study investigates the design of fault-tolerant control involving adaptive nonsingular fast terminal sliding mode control and neural networks. Unlike those of previous control strategies, the adaptive law of the investigated algorithm is considered in both continuous and discontinuous terms, which means that any disturbances, model uncertainties, and actuator faults can be simultaneously compensated for. First, a quadcopter model is presented under the conditions of disturbances and uncertainties. Second, normal adaptive nonsingular fast terminal sliding mode control is utilized to handle these disturbances. Thereafter, fault-tolerant control based on adaptive nonsingular fast terminal sliding mode control and neural network approximation is presented, which can handle the actuator faults, model uncertainties, and disturbances. For each controller design, the Lyapunov function is applied to validate the robustness of the investigated method. Finally, the effectiveness of the investigated control approach is presented via comparative numerical examples under different fault conditions and uncertainties.

Design of a non-singular fast terminal sliding mode control for second-order nonlinear systems with compound disturbance

2021 ◽  
pp. 095440622110329
Author(s):  
Mohammad Reza Salehi Kolahi ◽  
Mohammad Reza Gharib ◽  
Ali Heydari
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Path Tracking ◽  
Second Order ◽  
Control Technique ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode ◽  
Compound Disturbance

This paper investigates a new disturbance observer based non-singular fast terminal sliding mode control technique for the path tracking and stabilization of non-linear second-order systems with compound disturbance. The compound disturbance is comprised of both parametric and non-parametric uncertainties. While warranting fast convergence rate and robustness, it also dominates the singularity and complex-value number issues associated with conventional terminal sliding mode control. Furthermore, due to the estimation properties of the observer, knowledge about the bounds of the uncertainties is not required. The simulation results of two case studies, the velocity and path tracking of an autonomous underwater vehicle and the stabilization of a chaotic Φ6-Duffing oscillator, validate the efficacy of the proposed method.

scholarly journals Position Tracking Control for Permanent Magnet Linear Motor via Continuous-Time Fast Terminal Sliding Mode Control

2018 ◽  
Vol 2018 ◽  
pp. 1-6 ◽  
Author(s):  
Wei Gao ◽  
Xiuping Chen ◽  
Haibo Du ◽  
Song Bai
Keyword(s):  
Sliding Mode Control ◽  
Continuous Time ◽  
Control Method ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode ◽  
Permanent Magnet Linear Motor

For the position tracking control problem of permanent magnet linear motor, an improved fast continuous-time nonsingular terminal sliding mode control algorithm based on terminal sliding mode control method is proposed. Specifically, first, for the second-order model of position error dynamic system, a new continuous-time fast terminal sliding surface is introduced and an improved continuous-time fast terminal sliding mode control law is proposed. Then rigorous theoretical analysis is provided to demonstrate the finite-time stability of the closed-loop system by using the Lyapunov function. Finally, numerical simulations are given to verify the effectiveness and advantages of the proposed fast nonsingular terminal sliding mode control method.

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