scholarly journals Adaptive Terminal Sliding Mode NDO-Based Control of Underactuated AUV in Vertical Plane

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Wei Chen ◽  
Yanhui Wei ◽  
Jianhui Zeng ◽  
Han Han ◽  
Xianqiang Jia
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
External Disturbance ◽  
Vertical Plane ◽  
Lyapunov Theory ◽  
Terminal Sliding Mode ◽  
Control Effectiveness ◽  
Tracking Process ◽  
Underactuated Auv ◽  
The Stability

The depth tracking issue of underactuated autonomous underwater vehicle (AUV) in vertical plane is addressed in this paper. Considering the complicated dynamics and kinematics model for underactuated AUV, a more simplified model is obtained based on assumptions. Then a nonlinear disturbance observer (NDO) is presented to estimate the external disturbance acting on AUV, and an adaptive terminal sliding mode control (ATSMC) based on NDO is applied to enhance the depth tracking performance of underactuated AUV considering both internal and external disturbance. Compared with the traditional sliding mode controller, the static error and chattering problem of the depth tracking process have been clearly improved by adopting NDO-based ATSMC. The stability of control system is proven to be guaranteed according to Lyapunov theory. In the end, simulation results imply that the proposed controller owns strong robustness and satisfied control effectiveness in comparison with the traditional controller.

scholarly journals Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Yassine El Houm ◽  
Ahmed Abbou ◽  
Moussa Labbadi ◽  
Mohamed Cherkaoui
Keyword(s):  
Sliding Mode ◽  
External Disturbance ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Time Varying ◽  
Sliding Surface ◽  
State Variables ◽  
Quadrotor Uav ◽  
The Stability ◽  
Quadrotor System

This paper deals with the design of a novel modified supertwisting fast nonlinear sliding mode controller (MSTFNSMC) to stabilize a quadrotor system under time-varying disturbances. The suggested control strategy is based on a modified supertwisting controller with a fast nonlinear sliding surface to improve the tracking performance. The paper suggests a simple optimization tool built-in MATLAB/Simulink to tune the proposed controller parameters. Fast convergence of state variables is established by using a nonlinear sliding surface for rotational and translational subsystems. The modified supertwisting controller is developed to suppress the effect of chattering, reject disturbances, and ensure robustness against external disturbance effect. The stability of the proposed controller (MSTFNSMC) is proved using the Lyapunov theory. The performance of the proposed MSTFNSMC approach is compared with the supertwisting sliding mode controller (STSMC) by numerical simulations to verify its effectiveness.

Terminal sliding mode control with self-tuning for coronary artery system synchronization

2017 ◽  
Vol 10 (03) ◽  
pp. 1750041 ◽  
Author(s):  
Zhanshan Zhao ◽  
Xiaomeng Li ◽  
Jing Zhang ◽  
Yongzhen Pei
Keyword(s):  
Coronary Artery ◽  
Finite Time ◽  
Sliding Mode ◽  
External Disturbance ◽  
Lyapunov Theory ◽  
Unmodeled Dynamics ◽  
Terminal Sliding Mode ◽  
Self Tuning ◽  
Response Systems ◽  
System Synchronization

A terminal sliding mode (TSM) control with self-tuning gain algorithm is proposed for the synchronization of coronary artery system under the existence of the unmodeled dynamics and the external disturbance. Considering the sliding mode dynamics of system, a criterion of selecting the parameters is derived to reach the point of equilibrium in the finite time. The theoretic analysis based on Lyapunov theory proved that the systems with the proposed TSM control with self-tuning scheme could be stabilized in finite time. The proposed method shows that the drive and response systems are synchronized and states of the response system track the states of the drive system in finite time. This information about the bound of unmodeled dynamics and the external disturbance is not needed in advance through self-tuning the gains of controller. The results for coronary artery system synchronization simulation show that the proposed TSM controller with self-tuning achieves better robustness and adaptation against unmodeled dynamics and the external disturbance, which offer the theory basis on curing myocardial infarction.

scholarly journals Robust Integral Terminal Sliding Mode Control for Quadrotor UAV with External Disturbances

2019 ◽  
Vol 2019 ◽  
pp. 1-10 ◽  
Author(s):  
Moussa Labbadi ◽  
Mohamed Cherkaoui
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Terminal Sliding Mode Control ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
The Stability ◽  
The Right ◽  
Quadrotor System

The purpose of this paper is to solve the problem of controlling of the quadrotor exposed to external constant disturbances. The quadrotor system is partitioned into two parts: the attitude subsystem and the position subsystem. A new robust integral terminal sliding mode control law (RITSMC) is designed for stabilizing the inner loop and the quick tracking of the right desired values of the Euler angles. To estimate the disturbance displayed on the z-axis and to control the altitude position subsystem, an adaptive backstepping technique is proposed, while the horizontal position subsystem is controlled using the backstepping approach. The stability of the quadrotor subsystems is guaranteed by the Lyapunov theory. The effectiveness of the proposed methods is clearly comprehended through the obtained results of the various simulations effectuated on MATLAB/Simulink, and a comparison with another technique is presented.

scholarly journals Continuous Recursive Sliding Mode Control for Hypersonic Flight Vehicle with Extended Disturbance Observer

2015 ◽  
Vol 2015 ◽  
pp. 1-26 ◽  
Author(s):  
Yunjie Wu ◽  
Jianmin Wang
Keyword(s):  
Disturbance Observer ◽  
Sliding Mode ◽  
External Disturbance ◽  
Sliding Mode Controller ◽  
Flight Vehicle ◽  
Terminal Sliding Mode ◽  
Hypersonic Flight Vehicle ◽  
Hypersonic Flight ◽  
Compensation Factor ◽  
The Stability

A continuous recursive sliding mode controller (CRSMC) with extended disturbance observer (EDO) is proposed for the longitudinal dynamics of a generic hypersonic flight vehicle (HFV) in the presence of multiple uncertainties under control constraints. Firstly, sliding mode tracking controller based on a set of novel recursive sliding mode manifolds is presented, in which the chattering problem is reduced. The CRSMC possesses the merits of both nonsingular terminal sliding mode controller (NTSMC) and high-order sliding mode controller (HOSMC). Then antiwindup controller is designed according to the input constraints, which adds a dynamic compensation factor in the CRSMC. For the external disturbance of system, an improved disturbance observer based on extended disturbance observer (EDO) is designed. The external disturbance is estimated by the disturbance observer and the estimated value is regarded as compensation in CRSMC for disturbance. The stability of the proposed scheme is analyzed by Lyapunov function theory. Finally, numerical simulation is conducted for cruise flight dynamics of HFV, where altitude is 110000 ft, velocity is 15060 ft/s, and Mach is 15. Simulation results show the validity of the proposed approach.

Global Robust Terminal Sliding Mode Control for PMLSM Servo System

2013 ◽  
Vol 273 ◽  
pp. 280-285 ◽  
Author(s):  
Hong Pei Han ◽  
Wu Wang ◽  
Zheng Min Bai
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
External Load ◽  
Sliding Mode ◽  
Servo System ◽  
Lyapunov Theory ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
The Stability

Permanent Magnet Linear Synchronous Motor (P MLSM was hard to control with traditional control strategy for parameters variation and external load disturbance, a global robust terminal sliding mode control (GRTSMC) was designed for PMLSM servo system, the sliding mode surface function was designed, the robust sliding mode control law was deduced and the stability was proved by Lyapunov theory. With the mathematical models of PMLSM, the simulation was taken with traditional PID control, SMC control and GRTSMC control proposed in this paper, the robust performance be found with GRTSMC control when motor parameters and external load changed, the efficiency and advantages of this robust control strategy was successfully demonstrated.

scholarly journals Applied Mechatronics: On Mitigating Disturbance Effects in MEMS Resonators Using Robust Nonsingular Terminal Sliding Mode Controllers

Machines ◽  
2022 ◽  
Vol 10 (1) ◽  
pp. 34
Author(s):  
Aydin Azizi ◽  
Hamed Mobki ◽  
Hassen M. Ouakad ◽  
Omid Reza B. Speily
Keyword(s):  
Control Strategy ◽  
Sliding Mode ◽  
Response Speed ◽  
Lyapunov Theory ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mems Resonators ◽  
Nonsingular Terminal Sliding Mode ◽  
Sliding Mode Controllers ◽  
The Stability

This investigation attempts to study a possible controller in improving the dynamic stability of capacitive microstructures through mitigating the effects of disturbances and uncertainties in their resultant dynamic behavior. Consequently, a nonsingular terminal sliding mode control strategy is suggested in this regard. The main features of this particular control strategy are its high response speed and its non-reliance on powerful controller forces. The stability of the controller was investigated using Lyapunov theory. For this purpose, a suitable Lyapunov function was introduced to prove the stability of a controller, and the singularity conditions and methods to overcome these conditions are presented. The achieved results proved the high capability of the applied technique in stabilizing of the microstructure as well as mitigating the effects of disturbances and uncertainties.

Integral terminal sliding mode formation control of non-holonomic robots using leader follower approach

Robotica ◽  
2016 ◽  
Vol 35 (7) ◽  
pp. 1473-1487 ◽  
Author(s):  
Muhammad Asif ◽  
Muhammad Junaid Khan ◽  
Attaullah Y. Memon
Keyword(s):  
Formation Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Obstacle Detection ◽  
Lyapunov Theory ◽  
Terminal Sliding Mode ◽  
Loop Control ◽  
The Stability ◽  
Close Loop Control ◽  
Multi Robot

SUMMARYMulti-robot formation control has become an important area of research due to its advantages and applications. This paper presents multi-robot formation control using a leader–follower approach without considering the leader's velocity information or estimation. The leader–follower formation is formulated by incorporating the model uncertainties and disturbances. A novel formation controller is presented using integral terminal sliding mode (ITSM) control, which drives the formation tracking error convergence to zero in finite-time. The stability of the close-loop control scheme is verified by using Lyapunov theory. Furthermore, obstacle detection and avoidance are incorporated to avoid collision while maintaining the formation. The effectiveness of the proposed controller is verified and validated using sine and lamniscate curve trajectories. Moreover, the performance of the proposed ITSM formation controller is compared with the standard linear sliding mode (LSM) control.

The Sensorless Control of IPMSM Based on the Extended State Sliding Mode Observer

2014 ◽  
Vol 532 ◽  
pp. 31-35
Author(s):  
Jia Xi Liu ◽  
Peng Cheng Du ◽  
Li Yi Li
Keyword(s):  
Sliding Mode ◽  
Lyapunov Theory ◽  
Sliding Mode Observer ◽  
Mathematics Model ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Rotor Position ◽  
The Stability ◽  
Vector Control System ◽  
Stator Resistance

This paper presents a novel method to estimate the rotor position based on the linear flux. Firstly, Interior Permanent Magnetic Synchronous Motor(IPMSM) mathematics model is established in the stationary frame based on linear flux, and rotor position is estimated by the extended state sliding mode observer. Secondly, the second order non-singular terminal sliding mode control is put forward to substitute for linear sliding mode in combination with the advantages of the high order sliding mode and non-singular terminal sliding mode due to the low converging speed of linear sliding mode and chatting. The stability of observer is proved by Lyapunov theory and the adaptive of sliding mode gain matrix is obtained. Thirdly, the effect of varieties of stator resistance and q-axis inductance on sliding mode observer estimated flux amplitude and phase is analyzed quantitatively. Rotor position and speed are obtained by PLL. Finally, the simulation and the experimental platform of sensorless IPMSM full-digital vector control system are designed. The experiment results prove the correctness and feasibility of this algorithm mentioned in the dissertation

scholarly journals Control of an IPMC Soft Actuator Using Adaptive Full-Order Recursive Terminal Sliding Mode

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 33
Author(s):  
Romina Zarrabi Ekbatani ◽  
Ke Shao ◽  
Jasim Khawwaf ◽  
Hai Wang ◽  
Jinchuan Zheng ◽  
...  
Keyword(s):  
Sliding Mode ◽  
External Disturbance ◽  
Tracking Error ◽  
Working Environment ◽  
Parametric Uncertainties ◽  
Metal Composite ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Positioning Accuracy ◽  
Soft Actuator

The ionic polymer metal composite (IPMC) actuator is a kind of soft actuator that can work for underwater applications. However, IPMC actuator control suffers from high nonlinearity due to the existence of inherent creep and hysteresis phenomena. Furthermore, for underwater applications, they are highly exposed to parametric uncertainties and external disturbances due to the inherent characteristics and working environment. Those factors significantly affect the positioning accuracy and reliability of IPMC actuators. Hence, feedback control techniques are vital in the control of IPMC actuators for suppressing the system uncertainty and external disturbance. In this paper, for the first time an adaptive full-order recursive terminal sliding-mode (AFORTSM) controller is proposed for the IPMC actuator to enhance the positioning accuracy and robustness against parametric uncertainties and external disturbances. The proposed controller incorporates an adaptive algorithm with terminal sliding mode method to release the need for any prerequisite bound of the disturbance. In addition, stability analysis proves that it can guarantee the tracking error to converge to zero in finite time in the presence of uncertainty and disturbance. Experiments are carried out on the IPMC actuator to verify the practical effectiveness of the AFORTSM controller in comparison with a conventional nonsingular terminal sliding mode (NTSM) controller in terms of smaller tracking error and faster disturbance rejection.

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