scholarly journals Minimum Time Disturbance Rejection and Tracking Control of $n+m$ Linear Hyperbolic PDEs

2018 ◽  
Author(s):  
Henrik Anfinsen ◽  
Ole Morten Aamo
Keyword(s):  
Disturbance Rejection ◽  
Tracking Control ◽  
Minimum Time ◽  
Hyperbolic Pdes

scholarly journals Trajectory Tracking Control for Small-Scale Unmanned Helicopters with Mismatched Disturbances Based on a Continuous Sliding Mode Approach

2019 ◽  
Vol 2019 ◽  
pp. 1-15 ◽  
Author(s):  
Xing Fang ◽  
Yujia Shang
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Small Scale ◽  
Control Law ◽  
Trajectory Tracking Control ◽  
Mode Control ◽  
Mismatched Disturbances

A novel continuous sliding mode control (CSMC) strategy based on the finite-time disturbance observer (FTDO) is proposed for the small-scale unmanned helicopters in the presence of both matched and mismatched disturbances. First, a novel sliding surface is designed based on the estimates of the mismatched disturbances and their derivatives obtained by the FTDO. Then, a continuous sliding mode control law is developed, which does not lead to any chattering phenomenon. Furthermore, the closed-loop helicopter system is proved to be asymptotically stable. Finally, the excellent hovering and tracking performance, as well as the powerful disturbance rejection capability of the proposed novel CSMC method, is validated by the simulation results.

scholarly journals Modeling and Analysis in Trajectory Tracking Control for Wheeled Mobile Robots with Wheel Skidding and Slipping: Disturbance Rejection Perspective

Actuators ◽  
2021 ◽  
Vol 10 (9) ◽  
pp. 222
Author(s):  
Xiaoshan Gao ◽  
Liang Yan ◽  
Chris Gerada
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Dynamic Models ◽  
Nonholonomic Constraints ◽  
Disturbance Attenuation ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Control Scheme

Wheeled mobile robot (WMR) is usually applicable for executing an operational task around complicated environment; skidding and slipping phenomena unavoidably appear during the motion, which thus can compromise the accomplishment of the task. This paper investigates the trajectory tracking control problem of WMRs via disturbance rejection in the presence of wheel skidding and slipping phenomena. The kinematic and dynamic models with the perturbed nonholonomic constraints are established. The trajectory tracking control scheme at the dynamic level is designed so that the mobile robot system can track the virtual velocity asymptotically, and counteract the perturbation caused by the unknown skidding and slipping of wheels. Both simulation and experimental works are conducted, and the results prove the performance of the proposed control scheme is effective in terms of tracking precision and disturbance attenuation.

Sign in / Sign up

Export Citation Format

Share Document