scholarly journals Finite-Time Cooperative Tracking Control Algorithm for Multiple Surface Vessels

2014 ◽  
Vol 2014 ◽  
pp. 1-10
Author(s):  
Jianfang Jiao ◽  
Mingyu Fu
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
External Disturbance ◽  
Lyapunov Stability Theory ◽  
Control Input ◽  
Terminal Sliding Mode ◽  
Surface Vessels ◽  
Cooperative Tracking

We investigate the problem of finite-time cooperative tracking for multiple surface vessels in the presence of external disturbances. A robust finite-time cooperative tracking algorithm based on terminal sliding-mode control is proposed for multiple surface vessels. In light of the leader-follower strategy, a virtual leader vessel is defined to provide reference point for other surface vessels to form the desired formation. Specifically, the proposed algorithm only requires the communication topology among the surface vessels to be a directed graph with a directed spanning tree. The robustness is achieved by compensating the upper bound of external disturbance in the control input, and the global finite-time stability is proved by Lyapunov stability theory. Finally, the effectiveness of the proposed finite-time cooperative tracking control algorithm is demonstrated by simulation results.

Terminal sliding mode-based cooperative tracking control for non-linear dynamic systems

2016 ◽  
Vol 39 (7) ◽  
pp. 1081-1087 ◽  
Author(s):  
Lei Zuo ◽  
Rongxin Cui ◽  
Weisheng Yan
Keyword(s):  
Dynamic Systems ◽  
Tracking Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Terminal Sliding Mode ◽  
Linear Dynamic Systems ◽  
Linear Dynamic ◽  
Non Linear ◽  
Cooperative Tracking ◽  
Distributed Control Algorithm

This paper investigates cooperative tracking problems for multiple non-linear dynamic systems. The desired trajectory is only available to a portion of the agents. Treating the desired trajectory as a virtual agent, a terminal sliding mode (TSM)-based distributed control algorithm is designed only using the neighbours’ information. A decentralized observer is provided firstly to estimate the unknown external disturbances. Then, the Gaussian functions are introduced to approximate the second-order derivative of the inaccessible states. On this basis, we further develop a TSM-based cooperative tracking control algorithm for the non-linear dynamic systems such that the tracking errors of each agent converge to an adjustable neighbourhood of the origin in finite time. Finally, a simulation example is presented to illustrate the feasibility and effectiveness of the proposed approaches.

Inversion-free force tracking control of piezoelectric actuators using fast finite-time integral terminal sliding-mode

Mechatronics ◽  
2019 ◽  
Vol 57 ◽  
pp. 39-50 ◽  
Author(s):  
Jinoh Lee ◽  
Maolin Jin ◽  
Navvab Kashiri ◽  
Darwin G. Caldwell ◽  
Nikolaos G. Tsagarakis
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Piezoelectric Actuators ◽  
Terminal Sliding Mode ◽  
Time Integral ◽  
Force Tracking

Smooth second-order nonsingular terminal sliding mode control for reusable launch vehicles

2014 ◽  
Vol 7 (1) ◽  
pp. 95-110 ◽  
Author(s):  
Shaobo Ni ◽  
Jiayuan Shan
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Tracking Error ◽  
Second Order ◽  
Convergence Time ◽  
Control Input ◽  
Terminal Sliding Mode ◽  
Content Type ◽  
Nonsingular Terminal Sliding Mode ◽  
Attitude Tracking

Purpose – The purpose of this paper is to present a sliding mode attitude controller for reusable launch vehicle (RLV) which is nonlinear, coupling, and includes uncertain parameters and external disturbances. Design/methodology/approach – A smooth second-order nonsingular terminal sliding mode (NTSM) controller is proposed for RLV in reentry phase. First, a NTSM manifold is proposed for finite-time convergence. Then a smooth second sliding mode controller is designed to establish the sliding mode. An observer is utilized to estimate the lumped disturbance and the estimation result is used for feedforward compensation in the controller. Findings – It is mathematically proved that the proposed sliding mode technique makes the attitude tracking errors converge to zero in finite time and the convergence time is estimated. Simulations are made for RLV through the assumption that aerodynamic parameters and atmospheric density are perturbed. Simulation results demonstrate that the proposed control strategy is effective, leading to promising performance and robustness. Originality/value – By the proposed controller, the second-order sliding mode is established. The attitude tracking error converges to zero in a finite time. Meanwhile, the chattering is alleviated and a smooth control input is obtained.

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