scholarly journals Stabilization of an Underactuated Surface Vessel Based on Adaptive Sliding Mode and Backstepping Control

2013 ◽  
Vol 2013 ◽  
pp. 1-5 ◽  
Author(s):  
Fuguang Ding ◽  
Jing Wu ◽  
Yuanhui Wang
Keyword(s):  
Boundary Layer ◽  
Asymptotic Stability ◽  
Global Asymptotic Stability ◽  
Sliding Mode ◽  
Backstepping Method ◽  
Adaptive Function ◽  
Control Laws ◽  
Adaptive Sliding Mode ◽  
Simulation Results ◽  
Surface Vessel

The paper studied controlling problem of an underactuated surface vessel with unknown interferences. It proved that the control problem of underactuated surface vessel can be transformed into the stabilization analysis of two small subsystems. This controller was designed by backstepping method and adaptive sliding mode, was suitable for solving the problem of the control of higher systems, can keep the system global asymptotic stability, and can inhibit unknown interference, and boundary layer can weaken the buffeting generated by sliding mode. The unknown interference was estimated by adaptive function. Finally, the simulation results are given to demonstrate the effectiveness of the proposed control laws.

scholarly journals Global asymptotic stability of a passive juggling strategy: A possible parts-feeding method

1995 ◽  
Vol 1 (3) ◽  
pp. 193-224 ◽  
Author(s):  
P. J. Swanson ◽  
R. R. Burridge ◽  
D. E. Koditschek
Keyword(s):  
Asymptotic Stability ◽  
Global Asymptotic Stability ◽  
Initial Conditions ◽  
Periodic Trajectory ◽  
Degree Of Freedom ◽  
Feeding Method ◽  
Feeding Problem ◽  
Simulation Results ◽  
Parts Feeding

In this paper we demonstrate that a passive vibration strategy can bring a one-degree-of-freedom ball to a specified periodic trajectory from all initial conditions. We draw motivation from the problem of parts feeding in sensorless assembly. We provide simulation results suggesting the relevance of our analysis to the parts feeding problem.

scholarly journals A neural network combined with sliding mode controller for the two-wheel self-balancing robot

2021 ◽  
Vol 10 (3) ◽  
pp. 592
Author(s):  
Duc-Minh Nguyen ◽  
Van-Tiem Nguyen ◽  
Trong-Thang Nguyen
Keyword(s):  
Neural Network ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Control Laws ◽  
Noise Compensation ◽  
Simulation Results ◽  
Balancing Robot ◽  
The Stability

This article presents the sliding control method combined with the selfadjusting neural network to compensate for noise to improve the control system's quality for the two-wheel self-balancing robot. Firstly, the dynamic equations of the two-wheel self-balancing robot built by Euler–Lagrange is the basis for offering control laws with a neural network of noise compensation. After disturbance-compensating, the sliding mode controller is applied to control quickly the two-wheel self-balancing robot reached the desired position. The stability of the proposed system is proved based on the Lyapunov theory. Finally, the simulation results will confirm the effectiveness and correctness of the control method suggested by the authors.

An observer-based continuous adaptive sliding mode guidance against chattering for homing missiles

2019 ◽  
Vol 41 (12) ◽  
pp. 3309-3320 ◽  
Author(s):  
Jianguo Guo ◽  
Yifei Li ◽  
Jun Zhou
Keyword(s):  
Sliding Mode ◽  
Dimensional Space ◽  
Lyapunov Theory ◽  
Closed Loop System ◽  
Adaptive Function ◽  
Adaptive Sliding Mode ◽  
Guidance Law ◽  
Nonlinear Extended State Observer ◽  
The Stability ◽  
Homing Missiles

A novel observer-based continuous adaptive sliding mode guidance (OCASMG) is proposed for homing missiles. First, a new sliding mode guidance law is derived from the nonlinear dynamics describing the pursuit situation of a missile and a target in the two-dimensional space, where a continuous adaptive function is introduced to overcome the chattering problem in sliding mode. Second, to improve the accuracy of target interception, a new nonlinear extended state observer (NESO) is presented to estimate target acceleration and compensate for the sliding mode guidance law. The stability of observer-based closed-loop system is proved by Lyapunov theory. Finally, simulations are conducted on the nonlinear longitudinal missile model and results demonstrate the effectiveness of proposed method.

Fuzzy Adaptive Sliding Mode Control Based on Fuzzy Compensation for Ammunition Auto-Loading Robot

2013 ◽  
Vol 816-817 ◽  
pp. 363-366
Author(s):  
Yu Feng Li ◽  
Kui Wu Li ◽  
Yu Tian Pan ◽  
Bao Quan Guo
Keyword(s):  
Control System ◽  
Fuzzy Systems ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Disturbance Compensation ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Simulation Results ◽  
Fuzzy Adaptive

A new fuzzy adaptive sliding mode controller based on fuzzy compensation for robot is proposed. The control architecture employs fuzzy systems to compensate adaptively for plant uncertainties to distinguish different disturbance compensation terms and approximate each of them respectively. By analyzing and comparing the simulation results, it is obviously shown that the control system can lighten the effect on the control system caused by different disturbance factors and eliminate the system chattering than that of traditional SMC.

Research on Control Algorithm for an Unmanned Helicopter Based on Global Asymptotic Stability

2012 ◽  
Vol 195-196 ◽  
pp. 977-983
Author(s):  
Run Xia Guo ◽  
Jiu Sheng Chen
Keyword(s):  
Asymptotic Stability ◽  
Global Asymptotic Stability ◽  
Control Algorithm ◽  
Response Speed ◽  
Rotational Dynamics ◽  
Unmanned Helicopter ◽  
State Dependent ◽  
Simulation Results ◽  
Set Up ◽  
Different Response

Taking into account the different response speed of each part of the unmanned helicopter(UMH), established a two-timescale nonlinear model which contained the flapping and rotational dynamics. To overcome the problem that a number of terms cant be accounted in the state-dependent Riccati equation (SDRE) design, we employed a nonlinear feedforward compensator that is designed to match the vehicle response to the model used in the SDRE design. We improved SDRE technique and set up a control algorithm can guarantee the global asymptotic stability of the system. Proof was given. Numerical simulation results were listed to illustrate effectiveness of the algorithm.

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