A novel adaptive finite-time tracking control for robotic manipulators using nonsingular terminal sliding mode and RBF neural networks

For multi-spacecraft with actuator saturation, inertia uncertainties and external disturbances, a distributed finite-time coordinated attitude tracking control problem for the spacecraft with the communication topology containing fewer information paths is investigated. Aiming at reducing the communication path, a class of distributed finite-time state observers is designed. To speed up the convergence rate of the multiple spacecraft system, a fast nonsingular terminal sliding mode function is proposed. Moreover, an adaptive control term is proposed to suppress the impact of the external state-dependent disturbances and unknown time-varying inertia uncertainties. Further considering the actuator saturation owing to its physical limitations, a saturation function is designed. With the distributed finite-time observers, the fast nonsingular terminal sliding mode function, the adaptive update law and the saturation function, a distributed finite-time coordinated attitude tracking saturation controller is designed. Using the proposed controller, the follower can synchronize with the common leader with time-varying trajectory in finite time. Simulation results demonstrate the effectiveness of the designed controller.

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Finite-time attitude tracking control of air bearing table for spacecraft rendezvous and docking

Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering ◽

10.1177/0954410016671539 ◽

2016 ◽

Vol 232 (1) ◽

pp. 96-110 ◽

Cited By ~ 4

Author(s):

Cheng Huang ◽

Yan Wang ◽

Xing-lin Chen

Keyword(s):

Finite Time ◽

Tracking Control ◽

Sliding Mode ◽

External Disturbances ◽

Terminal Sliding Mode ◽

Finite Time Stability ◽

Nonsingular Terminal Sliding Mode ◽

Attitude Tracking ◽

Attitude Tracking Control ◽

Rendezvous And Docking

This paper studies the problem of attitude tracking control for spacecraft rendezvous and docking based on a physical ground simulation system. Two finite-time controllers based on quaternion are proposed by using a novel fast nonsingular terminal sliding mode surface associated with the adaptive control, the novel fast nonsingular terminal sliding mode surface not only contains the advantages of the fast nonsingular terminal sliding mode surface, but also can eliminate unwinding caused by the quaternion. The first controller, which is continuous and chattering-free, can compensate unknown constant external disturbances, while the second controller can both compensate parametric uncertainties and varying external disturbances with unknown bounds without chattering. Lyapunov theoretical analysis and simulation results show that the two controllers can make the closed-loop system errors converge to zero in finite time and guarantee the finite-time stability of the system.

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Disturbance observer-based fault-tolerant attitude tracking control for rigid spacecraft with finite-time convergence

Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering ◽

10.1177/0954410017740918 ◽

2017 ◽

Vol 233 (2) ◽

pp. 616-628 ◽

Cited By ~ 2

Author(s):

Qun Zong ◽

Xiuyun Zhang ◽

Shikai Shao ◽

Bailing Tian ◽

Wenjing Liu

Keyword(s):

Finite Time ◽

Tracking Control ◽

Disturbance Observer ◽

Fault Tolerant ◽

Sliding Mode ◽

Terminal Sliding Mode ◽

Nonsingular Terminal Sliding Mode ◽

Attitude Tracking ◽

Rigid Spacecraft ◽

Attitude Tracking Control

In this paper, finite-time fault-tolerant attitude tracking control is investigated for rigid spacecraft system with external disturbances, inertia uncertainties and actuator faults. A novel finite-time disturbance observer combined with a nonsingular terminal sliding mode controller is developed. Using an equivalent output error injection approach, a finite-time disturbance observer with simple structure is firstly designed to estimate lumped uncertainty. Then, to remove the requirement of prior knowledge about lumped uncertainty and reduce chattering, an adaptive finite-time disturbance observer is further proposed, and the estimations converge to the neighborhood of the true values. Based on the designed observer, a unified finite-time attitude controller is obtained automatically. Finally, both additive and multiplicative faults are considered for simulations and the results illustrate the great fault-tolerant capability of the proposed scheme.

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Nonsingular Terminal Sliding Mode Based Finite-Time Dynamic Surface Control for a Quadrotor UAV

Algorithms ◽

10.3390/a14110315 ◽

2021 ◽

Vol 14 (11) ◽

pp. 315

Author(s):

Yuxiao Niu ◽

Hanyu Ban ◽

Haichao Zhang ◽

Wenquan Gong ◽

Fang Yu

Keyword(s):

Finite Time ◽

Tracking Control ◽

Sliding Mode ◽

Time Stability ◽

External Disturbances ◽

Terminal Sliding Mode ◽

Dynamic Surface ◽

Finite Time Stability ◽

Quadrotor Uav ◽

Nonsingular Terminal Sliding Mode

In this work, a tracking control strategy is developed to achieve finite-time stability of quadrotor Unmanned Aerial Vehicles (UAVs) subject to external disturbances and parameter uncertainties. Firstly, a finite-time extended state observer (ESO) is proposed based on the nonsingular terminal sliding mode variable to estimate external disturbances to the position subsystem. Then, utilizing the information provided by the ESO and the nonsingular terminal sliding mode control (NTSMC) technique, a dynamic surface controller is proposed to achieve finite-time stability of the position subsystem. By conducting a similar step for the attitude subsystem, a finite-time ESO-based dynamic surface controller is proposed to carry out attitude tracking control of the quadrotor UAV. Finally, the performance of the control algorithm is demonstrated via a numerical simulation.

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Funnel nonsingular terminal sliding mode control based on TDE for robotic manipulators with model uncertainties

2020 Chinese Automation Congress (CAC) ◽

10.1109/cac51589.2020.9327561 ◽

2020 ◽

Author(s):

Huaizhen Wang ◽

Lijin Fang ◽

Tangzhong Song ◽

Menghui Hu ◽

Zhenghan Wu

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

Robotic Manipulators ◽

Terminal Sliding Mode Control ◽

Model Uncertainties ◽

Terminal Sliding Mode ◽

Mode Control ◽

Nonsingular Terminal Sliding Mode

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

Journal of Vibration and Control ◽

10.1177/1077546320982449 ◽

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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