Finite-time cooperative attitude control of multiple spacecraft using terminal sliding mode control technique

2012 ◽  
Vol 16 (4) ◽  
pp. 327 ◽  
Author(s):  
Haibo Du ◽  
Shihua Li
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Attitude Control ◽  
Sliding Mode ◽  
Control Technique ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Multiple Spacecraft

scholarly journals Nonsingular Terminal Sliding Mode Control Based on Adaptive Barrier Function for nth-Order Perturbed Nonlinear Systems

Mathematics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 43
Author(s):  
Khalid A. Alattas ◽  
Javad Mostafaee ◽  
Abdullah K. Alanazi ◽  
Saleh Mobayen ◽  
Mai The Vu ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Chaotic System ◽  
Finite Time ◽  
Barrier Function ◽  
Sliding Mode ◽  
Control Technique ◽  
Control Procedure ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control

In this study, an adaptive nonsingular finite time control technique based on a barrier function terminal sliding mode controller is proposed for the robust stability of nth-order nonlinear dynamic systems with external disturbances. The barrier function adaptive terminal sliding mode control makes the convergence of tracking errors to a region near zero in the finite time. Moreover, the suggested method does not need the information of upper bounds of perturbations which are commonly applied to the sliding mode control procedure. The Lyapunov stability analysis proves that the errors converge to the determined region. Last of all, simulations and experimental results on a complex new chaotic system with a high Kaplan–Yorke dimension are provided to confirm the efficacy of the planned method. The results demonstrate that the suggested controller has a stronger tracking than the adaptive controller and the results are satisfactory with the application of the controller based on chaotic synchronization on the chaotic system.

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.

Terminal Sliding Mode Control of the Flexible Manipulator

2014 ◽  
Vol 530-531 ◽  
pp. 1026-1031
Author(s):  
Sheng Li ◽  
Yi Qing Wang ◽  
Bao Lin Hou
Keyword(s):  
Linear System ◽  
Sliding Mode Control ◽  
Finite Time ◽  
State Feedback ◽  
Sliding Mode ◽  
Feedback Controller ◽  
Flexible Manipulators ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control

Aimed at the finite-time stabilization problem of a class of flexible manipulators, a stabilization controller based on terminal sliding mode control was proposed in this paper. Firstly, the nonlinear model of flexible manipulators was transformed into linear system through the exact state feedback linearization. Based on the finite time stabilization control method of the linear system, a stabilization controller based on terminal sliding mode control was designed for the flexible manipulators. Furthermore, it was proved that all the states of flexible manipulators could be stabilized to equilibrium in finite time with the proposed controller. The simulation results showed that the performance of the flexible manipulators with the proposed finite-time state feedback controller was effective. At last, the analysis and comparison of the proposed controller and the finite-time state feedback controller were given.

scholarly journals Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles

2014 ◽  
Vol 2014 ◽  
pp. 1-19 ◽  
Author(s):  
Yaoyao Wang ◽  
Jiawang Chen ◽  
Linyi Gu
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Output Feedback ◽  
Finite Time ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Remotely Operated Vehicles ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode

For the 4-DOF (degrees of freedom) trajectory tracking control problem of underwater remotely operated vehicles (ROVs) in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC) technique is introduced in light of the equivalent output injection sliding mode observer (SMO) and TSMC principle and fractional calculus technology. The equivalent output injection SMO is applied to reconstruct the full states in finite time. Meanwhile, the FO-NTSMC algorithm, based on a new proposed fractional-order switching manifold, is designed to stabilize the tracking error to equilibrium points in finite time. The corresponding stability analysis of the closed-loop system is presented using the fractional-order version of the Lyapunov stability theory. Comparative numerical simulation results are presented and analyzed to demonstrate the effectiveness of the proposed method. Finally, it is noteworthy that the proposed output feedback FO-NTSMC technique can be used to control a broad range of nonlinear second-order dynamical systems in finite time.

scholarly journals Novel Nonsingular Fast Terminal Sliding Mode Control for a Class of Second-Order Uncertain Nonlinear Systems

2021 ◽  
Vol 2021 ◽  
pp. 1-18
Author(s):  
Huihui Pan ◽  
Guangming Zhang
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Second Order ◽  
Terminal Sliding Mode Control ◽  
Uncertain Nonlinear Systems ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

This paper presents a novel nonsingular fast terminal sliding mode control scheme for a class of second-order uncertain nonlinear systems. First, a novel nonsingular fast terminal sliding mode manifold (NNFTSM) with adaptive coefficients is put forward, and a novel double power reaching law (NDP) with dynamic exponential power terms is presented. Afterwards, a novel nonsingular fast terminal sliding mode (NNFTSMNDP) controller is designed by employing NNFTSM and NDP, which can improve the convergence rate and the robustness of the system. Due to the existence of external disturbances and parameter uncertainties, the system states under controller NNFTSMNDP cannot converge to the equilibrium but only to the neighborhood of the equilibrium in finite time. Considering the unsatisfying performance of controller NNFTSMNDP, an adaptive disturbance observer (ADO) is employed to estimate the lumped disturbance that is compensated in the controller in real-time. A novel composite controller is presented by combining the NNFTSMNDP method with the ADO technique. The finite-time stability of the closed-loop system under the proposed control method is proven by virtue of the Lyapunov stability theory. Both simulation results and theoretical analysis illustrate that the proposed method shows excellent control performance in the existence of disturbances and uncertainties.

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