Finite-Time Consensus for Disturbed Multi-agent Systems with Unmeasured States via Nonsingular Terminal Sliding-Mode Control

2017 ◽  
pp. 269-287
Author(s):  
Xiangyu Wang ◽  
Shihua Li
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Multi Agent Systems ◽  
Terminal Sliding Mode ◽  
Agent Systems ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode ◽  
Multi Agent

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.

Nonsingular terminal sliding mode control for micro-electro-mechanical gyroscope based on disturbance observer: Linear matrix inequality approach

2021 ◽  
pp. 107754632098819
Author(s):  
Maryam Jafari ◽  
Saleh Mobayen ◽  
Hubert Roth ◽  
Farhad Bayat
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Linear Matrix ◽  
Terminal Sliding Mode Control ◽  
Matrix Inequality ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode

The aim of this article is to design a nonsingular terminal sliding mode control method based on disturbance observer for the stabilization of the micro-electro-mechanical systems under lumped perturbation. By using the nonsingular terminal sliding mode control scheme, the state trajectories of the system achieve the switching surface and approach to the origin in the finite time. Also, by utilizing the disturbance observer, the finite-time convergence of disturbance error is assured. In the process of design, the optimized coefficients of the sliding surface are calculated in the form of linear matrix inequality. Simulation results for a micro-electro-mechanical gyroscope are illustrated to exhibit the validity of the planned approach in comparison with the other methods.

Disturbance observer-based sliding mode control for multi-agent systems with mismatched uncertainties

2018 ◽  
Vol 38 (5) ◽  
pp. 606-614 ◽  
Author(s):  
Qing Wang ◽  
Changyin Sun ◽  
Xiaofeng Chai ◽  
Yao Yu
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Multi Agent Systems ◽  
Content Type ◽  
Agent Systems ◽  
Mode Control ◽  
Mismatched Uncertainties ◽  
Multi Agent

PurposeThis paper aims to develop sliding mode control (SMC) methods for second-order multi-agent systems (MAS) in the presence of mismatched uncertainties.Design/methodology/approachBased on the disturbance observer (DOB), discontinuous and continuous sliding mode protocols are designed to achieve finite-time consensus in spite of the disturbances.FindingsCompared with integral SMC, numerical simulation results show that the proposed control methods exhibit better performance with respect to reduction of chattering.Originality/valueThe main contributions are the following: MAS described with mismatched uncertainties are considered; both discontinuous and continuous sliding mode controllers are considered; with the proposed sliding mode controller, the desired sliding surface can be reached in finite time and the DOB is introduced in the controller to alleviate the chattering phenomenon.

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