Adaptive proxy-based sliding mode control for a class of second-order nonlinear systems and its application to pneumatic muscle actuators

2020 ◽  
Author(s):  
Jian Huang ◽  
Yu Cao ◽  
Yan-Wu Wang
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Second Order ◽  
Pneumatic Muscle ◽  
Mode Control ◽  
Muscle Actuators

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.

scholarly journals Continuous Prescribed-Time Sliding Mode Control with A Prescribed-Time ESO for Second-Order Nonlinear Systems with Mismatched Disturbance

2021 ◽  
Author(s):  
Xiaozhe Ju ◽  
Feng Wang ◽  
Yingzi Guan ◽  
Shihao Xu
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Fixed Time ◽  
Second Order ◽  
Order System ◽  
Practical Applications ◽  
Mode Control ◽  
System States ◽  
Mismatched Disturbances

Abstract This paper aims to settle the continuous prescribed-time stabilization problem of second-order nonlinear systems with mismatched disturbances. A continuous prescribed-time sliding mode control (CPTSMC) method with a prescribed-time extended state observer (PTESO) is proposed. The PTESO can precisely estimate the unknown states and disturbances, with its upper bound for the settling time (UBST) prescribed by only one parameter more tightly than existing finite-time or fixed-time ESOs. Furthermore, as a common concern for ESOs, the peaking value problem is well addressed. Then, a novel prescribed-time convergent form with little conservatism and simple tuning procedures is designed, and the internal mechanism in acquiring higher transient performance is explicitly researched. By using the estimated states and disturbances, the CPTSMC makes system states converge in a chattering-alleviated manner following the novel prescribed-time form. In addition to proving that the UBST of the whole system is tightly prescribed by only one design parameter, we show the continuity of the CPTSMC and the boundedness of all system signals, which are vital for practical applications. Ultimately, numerical simulations on the second-order system and a DC motor servo verify the efficiency of the proposed control system.

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