scholarly journals Finite-Time Consensus Algorithm for Multiple Nonholonomic Disturbed Systems with Its Application

2015 ◽  
Vol 2015 ◽  
pp. 1-10 ◽  
Author(s):  
Shang Shi ◽  
Xin Yu ◽  
Guohai Liu
Keyword(s):  
Control Strategy ◽  
Finite Time ◽  
Sliding Mode ◽  
Nonholonomic Systems ◽  
Consensus Algorithm ◽  
Nonholonomic Mobile Robots ◽  
Terminal Sliding Mode ◽  
Consensus Algorithms ◽  
Disturbed Systems ◽  
Switching Control Strategy

This paper deals with the problem of finite-time consensus of multiple nonholonomic disturbed systems. To accomplish this problem, the multiple nonholonomic systems are transformed into two multiple subsystems, and these two multiple subsystems are studied, respectively. For these two multiple subsystems, the terminal sliding mode (TSM) algorithms are designed, respectively, which achieve the finite-time reaching of sliding surface. Next, a switching control strategy is proposed to guarantee the finite-time consensus of all the states for multiple nonholonomic systems with disturbances. Finally, we demonstrate the effectiveness of the proposed consensus algorithms with application to multiple nonholonomic mobile robots.

scholarly journals Research on trajectory tracking control of manipulator based on modified terminal sliding mode with double power reaching law

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141984789 ◽  
Author(s):  
Yan Xia ◽  
Wei Xie ◽  
Jiachen Ma
Keyword(s):  
Control Strategy ◽  
Finite Time ◽  
Sliding Mode ◽  
Practical Implementation ◽  
Sliding Surface ◽  
Initial State ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode ◽  
Reaching Law ◽  
Terminal Sliding Surface

This article proposes a control strategy that combines the double power reaching law with the modified terminal sliding mode for tracking tasks of rigid robotic manipulators quickly and accurately. As a significant novelty, double power reaching law can reach the sliding surface in finite time when the system is in any initial state. At the same time, modified terminal sliding surface guarantees the system that position and velocity error converge to be zero approximately. In other words, the control law is able to make the system slip to the equilibrium point in a finite time and improves the speed of the system approaching and sliding modes. The simulation results demonstrate the practical implementation of the control strategy, verify its robustness of more accurate tracking and faster disturbance rejection, and weaken the chattering phenomenon more effectively compared with the conventional terminal sliding mode controller.

Disturbance observer and finite-time tracker design of disturbed third-order nonholonomic systems using terminal sliding mode

2016 ◽  
Vol 23 (2) ◽  
pp. 181-189 ◽  
Author(s):  
Saleh Mobayen ◽  
Shamsi Javadi
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Approximation Error ◽  
Nonholonomic Systems ◽  
Control Technique ◽  
Third Order ◽  
Terminal Sliding Mode ◽  
Finite Time Convergence

This paper proposes a novel recursive terminal sliding mode structure for tracking control of third-order chained–form nonholonomic systems in the presence of the unknown external disturbances. Finite-time convergence of the disturbance approximation error is guaranteed using the designed disturbance observer. Under the proposed terminal sliding model tracking control technique, the finite-time convergence of the states of the closed-loop system is guaranteed via Lyapunov analysis. A new reaching control law is proposed to guarantee the existence of the sliding mode around the recursive TSM surface in a finite-time. Simulation results are illustrated on a benchmark example of third-order chained-form nonholonomic systems: a wheeled mobile robot. The results demonstrate that the proposed control technique achieves promising tracking performance for nonholonomic systems.

Synchronization and Anti-Synchronization of Unidirectional and Bidirectional Coupled Chaotic Systems by Terminal Sliding Mode Control

2021 ◽  
pp. 399-433
Author(s):  
Ahmad Taher Azar ◽  
Fernando E. Serrano ◽  
Nashwa Ahmad Kamal
Keyword(s):  
Sliding Mode Control ◽  
Chaotic System ◽  
Control Strategy ◽  
Finite Time ◽  
Numerical Experiments ◽  
Chaotic Systems ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control

In this chapter, the synchronization and anti-synchronization of coupled unidirectional and bi-directional chaotic systems by terminal sliding mode control strategy are shown. The unidirectional synchronization consists in establishing a drive chaotic system and a response chaotic system in order to synchronize the variables of the response system in finite time. The unidirectional and bi-directional anti-synchronization consist in anti-synchronizing mutually a coupled chaotic system in both directions. For these purposes, terminal sliding mode control techniques are implemented. Three systems considered for experimental purposes in this study, a Lorenz, Rossler, and Ikeda systems are used for analysis and experimentation of synchronization and anti-synchronization. Three numerical experiments are shown to test the performance of the obtained proposed strategy.

Finite time control strategy for satellite attitude maneuver based on hybrid actuator

2017 ◽  
Vol 40 (9) ◽  
pp. 2798-2806 ◽  
Author(s):  
Dong Ye ◽  
Xiao Zhang ◽  
Xucheng Wan ◽  
Zhaowei Sun
Keyword(s):  
Control Strategy ◽  
Finite Time ◽  
Sliding Mode ◽  
External Disturbance ◽  
Reference Trajectory ◽  
Terminal Sliding Mode ◽  
Time Control ◽  
Satellite Attitude ◽  
Attitude Maneuver ◽  
Attitude Tracking

In this paper, a Nonsingular Terminal Sliding Mode Control (NTSMC) strategy is investigated to address the finite-time attitude tracking problem of a rigid spacecraft. Hybrid thruster and flywheel actuator system is used for rapid reorientation under external disturbance. The reference torque is obtained from time-optimal attitude trajectory, and it is exerted on the satellite by thrusters in the form of feedforward compensation. Owing to thruster output torque deviation, initial measurement error and external disturbances, the practical trajectory of a satellite would deviate from reference trajectory. In order for the satellite to track the reference trajectory in finite time, the correction torque is deduced based on the error between reference trajectory and real-time measurements, and then applied through flywheels in the form of feedback compensation. The NTSMC method is used to solve nonsingular problem and to improve the control precision of the satellite attitude tracking issue. The numerical simulation results show that this control strategy is effective and it has great robustness.

A novel robust finite-time tracking control of uncertain robotic manipulators with disturbances

2020 ◽  
pp. 107754632098244
Author(s):  
Hamid Razmjooei ◽  
Mohammad Hossein Shafiei ◽  
Elahe Abdi ◽  
Chenguang Yang
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Sliding Mode Controller ◽  
Time Varying ◽  
State Variables ◽  
Terminal Sliding Mode ◽  
Control Laws ◽  
Finite Time Boundedness

In this article, an innovative technique to design a robust finite-time state feedback controller for a class of uncertain robotic manipulators is proposed. This controller aims to converge the state variables of the system to a small bound around the origin in a finite time. The main innovation of this article is transforming the model of an uncertain robotic manipulator into a new time-varying form to achieve the finite-time boundedness criteria using asymptotic stability methods. First, based on prior knowledge about the upper bound of uncertainties and disturbances, an innovative finite-time sliding mode controller is designed. Then, the innovative finite-time sliding mode controller is developed for finite-time tracking of time-varying reference signals by the outputs of the system. Finally, the efficiency of the proposed control laws is illustrated for serial robotic manipulators with any number of links through numerical simulations, and it is compared with the nonsingular terminal sliding mode control method as one of the most powerful finite-time techniques.

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