An integral terminal sliding mode control scheme for speed control system using a double-variable hydraulic transformer

2019 ◽  
Author(s):  
Wei Shen ◽  
Jiehao Wang
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Speed Control ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Hydraulic Transformer ◽  
Control Scheme ◽  
Speed Control System

Flexible air-breathing hypersonic vehicle control based on a novel non-singular fast terminal sliding mode control and nonlinear disturbance observer

2016 ◽  
Vol 231 (11) ◽  
pp. 2132-2145 ◽  
Author(s):  
Xiaoqian Yang ◽  
Jian Li ◽  
Yi Dong
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Hypersonic Vehicle ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Nonlinear Disturbance Observer ◽  
Mode Control ◽  
Control Scheme ◽  
Fast Terminal Sliding Mode ◽  
Nonlinear Disturbance

A new control scheme for flexible air-breathing hypersonic vehicle is designed in this paper based on non-singular fast terminal sliding mode control and nonlinear disturbance observer. The proposed control scheme is derived from basic back-stepping method, which is capable of handling the higher-order nonlinear system, and a novel terminal sliding mode control method is designed for the last step to promise the finite time convergence and improve the steady-state precision. Meanwhile, a command filter is used to avoid the “explosion of complexity” in traditional back-stepping method. To overcome inevitable uncertainties as well as cross couplings between flexible and rigid modes, NDO is introduced to estimate diverse uncertainties. Thus flexible modes and uncertainties can be suppressed simultaneously. The convergence of overall closed-loop system states is proved via Lyapunov analysis. Numerical simulations show the effectiveness and advantages of the proposed control strategy.

scholarly journals Terminal Sliding-Mode Control of Uncertain Robotic Manipulator System with Predefined Convergence Time

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-16
Author(s):  
Yang Wang ◽  
Mingshu Chen ◽  
Yu Song
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Design Method ◽  
Robotic Manipulator ◽  
Convergence Time ◽  
Terminal Sliding Mode Control ◽  
Tracking Errors ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Control Scheme

This paper concentrates on the predefined-time trajectory tracking for an uncertain robotic manipulator system. First, a modified predefined-time control (PTC) algorithm is proposed. Subsequently, with the help of proposed modified PTC algorithm and the nonsingular design method of terminal sliding mode, a novel nonsingular terminal sliding-mode control (NTSMC) scheme is proposed for ensuring the predefined-time convergence of tracking errors. The advantages of the newly proposed control scheme are as follows. (i) Unlike the conventional predefined-time sliding-mode control (SMC) which only guarantees the predefined-time convergence of sliding-mode surface, the proposed scheme can guarantee the predefined-time convergence of tracking errors. (ii) Compared with the conventional PTC algorithm, the proposed modified PTC algorithm can reduce the initial control peaking and enhance the precision of convergence time. The performance and effectiveness of the proposed control scheme are illustrated by comparing with the existing methods.

scholarly journals Modeling and Speed Control of the Underwater Wheeled Vehicle Flexible Towing System

2019 ◽  
Vol 2019 ◽  
pp. 1-11 ◽  
Author(s):  
Gang Liu ◽  
Guohua Xu ◽  
Guanxue Wang ◽  
Guoqiang Yuan ◽  
Jiajia Liu
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Speed Control ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Real Time System ◽  
Mode Control ◽  
Speed Controller ◽  
Wheeled Vehicle ◽  
Fast Terminal Sliding Mode

In this paper, the research contents are mainly focused on the technology of the underwater wheeled vehicle speed control. For providing a passive towed underwater wheeled vehicle with accelerating, uniform motion and decelerating capability which can simulate an underwater navigation environment for the carried unit, we devised a novel open-type hydraulic flexible towing system. Combining the hydrodynamic model of the vehicle and the hydraulic mechanism model, the dynamic characteristics of the novel towing system are studied by computing simulation. Aiming at the force coupling character of double driving hydraulic winches, a master-slave synchronization control strategy is proposed. Then, in view of the flexible towing system features, i.e., strong coupling, nonlinear, time-varying load, and environmental constraints, a real speed controller based on fast terminal sliding mode control theory is designed and manufactured. To verify the effectiveness of the controller, a hardware-in-the-loop simulation test is carried out on the strength of a semiphysical simulation platform based on Matlab/Simulink and VxWorks real-time system. The experiment results show that the speed controller based on fast terminal sliding mode control has excellent effect on rapidity, stability, and anti-interference characteristics.

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