Learning-based Online Optimal Sliding-mode Control for Space Circumnavigation Missions with Input Constraints and Mismatched Uncertainties

2021 ◽  
Author(s):  
Hanlin Dong ◽  
Xuebo Yang
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Input Constraints ◽  
Mode Control ◽  
Mismatched Uncertainties

Robust sliding mode control for a class of underactuated systems with mismatched uncertainties

2009 ◽  
Vol 223 (6) ◽  
pp. 785-795 ◽  
Author(s):  
D W Qian ◽  
X J Liu ◽  
J Q Yi
Keyword(s):  
Robust Control ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Underactuated Systems ◽  
Sliding Surface ◽  
Nominal System ◽  
Sliding Surfaces ◽  
Mode Control ◽  
Mismatched Uncertainties

Based on the sliding mode control methodology, this paper presents a robust control strategy for underactuated systems with mismatched uncertainties. The system consists of a nominal system and the mismatched uncertainties. Since the nominal system can be considered to be made up of several subsystems, a hierarchical structure for the sliding surfaces is designed. This is achieved by taking the sliding surface of one of the subsystems as the first-layer sliding surface and using this sliding surface and the sliding surface of another subsystem to construct the second-layer sliding surface. This process continues till the sliding surfaces of all the subsystems are included. A lumped sliding mode compensator is designed at the last-layer sliding surface. The asymptotic stability of all of the layer sliding surfaces and the sliding surface of each subsystem is proven. Simulation results show the validity of this robust control method through stabilization control of a system consisting of two inverted pendulums and mismatched uncertainties.

Observer-Based Adaptive Sliding Mode Control for Soft Actuators with Input Constraints

2021 ◽  
pp. 524-533
Author(s):  
Guizhou Cao ◽  
Huige Shi ◽  
Dawei Xia ◽  
Yi Zheng ◽  
Yanhong Liu ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Input Constraints ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Soft Actuators

Adaptive robust sliding mode control of autonomous underwater glider with input constraints for persistent virtual mooring

2020 ◽  
Vol 95 ◽  
pp. 102027 ◽  
Author(s):  
Hexiong Zhou ◽  
Zhaoyu Wei ◽  
Zheng Zeng ◽  
Caoyang Yu ◽  
Baoheng Yao ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Input Constraints ◽  
Underwater Glider ◽  
Mode Control ◽  
Autonomous Underwater Glider

New fixed-time sliding mode control for a mismatched second-order system

2020 ◽  
pp. 014233122095230
Author(s):  
Guo Jianguo ◽  
Yang Shengjiang
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Initial Conditions ◽  
Nonlinear Function ◽  
Fixed Time ◽  
Second Order ◽  
Order System ◽  
Time Stability ◽  
Mode Control ◽  
Mismatched Uncertainties

A fixed-time sliding mode control (FTSMC) method is proposed for a second-order system with mismatched uncertainties in this paper. A new sliding mode, which is insensitive to the mismatched disturbance, is present to eliminate the effect of mismatched uncertainties by adopting the differentiable nonlinear function, and to obtain the fixed time stability independent of initial conditions by using the fraction-order function. In order to improve the performance of control system, the extended disturbance-observer-based fixed-time sliding mode control (EDO-FTSMC) approach is investigated to obtain the fixed-time stability subject to the mismatched uncertainties. Finally, the performance of the proposed control method is illustrated to compare other control approaches with numerical simulation results and application examples.

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