Dynamic event-triggered formation control for AUVs with fixed-time integral sliding mode disturbance observer

2021 ◽  
Vol 240 ◽  
pp. 109893
Author(s):  
Bo Su ◽  
Hong-bin Wang ◽  
Yueling Wang
Keyword(s):  
Disturbance Observer ◽  
Formation Control ◽  
Sliding Mode ◽  
Fixed Time ◽  
Integral Sliding Mode ◽  
Dynamic Event ◽  
Time Integral ◽  
Sliding Mode Disturbance Observer ◽  
Event Triggered

Event-triggered integral sliding mode fixed time control for trajectory tracking of autonomous underwater vehicle

2021 ◽  
pp. 014233122199438
Author(s):  
Bo Su ◽  
Hongbin Wang ◽  
Ning Li
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Fixed Time ◽  
Underwater Vehicle ◽  
Reference Trajectory ◽  
Integral Sliding Mode ◽  
Time Control ◽  
Event Triggered

In this paper, an event-triggered integral sliding mode fixed-time control method for trajectory tracking problem of autonomous underwater vehicle (AUV) with disturbance is investigated. Initially, the global fixed time stability is ensured with conventional periodic sampling method for reference trajectory tracking. By introducing fixed time integral sliding mode manifold, fixed time control strategy is expressed for the AUV, which can effectively eliminate the singularity. Correspondingly, in order to reduce the damage caused by chattering phenomenon, an adaptive fixed-time method is proposed based on the designed continuous integral terminal sliding mode (ITSM) to ensure that the trajectory tracking for AUV is achieved in fixed-time with external disturbance. In order to reduce resource consumption in the process of transmission network, the event-triggered sliding mode control strategy is designed which condition is triggered by an event. Also, Zeno behavior is avoided by proof of theoretical. It is shown that the upper bounds of settling time are only dependent on the parameters of controller. Theoretical analysis and simulation experiment results show that the presented methods can realize the control object.

Robust Fixed-Time Integral Sliding Mode Control of a Nonlinear Hydraulic Turbine Regulating System

2020 ◽  
Vol 15 (3) ◽  
Author(s):  
Sunhua Huang ◽  
Jie Wang
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Hydraulic Turbine ◽  
Fixed Time ◽  
Convergence Time ◽  
Stable Operation ◽  
Phase System ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Time Integral

Abstract The hydraulic turbine regulating system (HTRS) plays an important role in the safe and stable operation of hydropower stations. In this paper, a fixed-time integral sliding mode controller (FTISMC) is designed to make the nonlinear HTRS with disturbances stable in a fixed time. The HTRS is a highly complex, strongly coupled, nonlinear nonminimum phase system, which can ensure the frequency and rotor angle of generator stability by adjusting the guide vane opening. In order to decouple the nonlinear HTRS, the input/output feedback linearization is applied to establish the relationship between the control input and the output of the HTRS. Based on sliding mode control (SMC) theory and fixed-time stability theory, FTISMC is proposed to stabilize the HTRS in a fixed time. Compared with the finite time control method (FTCM), the convergence time of nonlinear HTRS under FTISMC is independent of initial conditions and can be exactly estimated. Meanwhile, the integral sliding surface can avoid singularity, thus eliminating the chattering phenomenon. Finally, the numerical simulation is implemented to demonstrate the superior performances of the proposed FTISMC than the existing PID, SMC, and FTMC.

scholarly journals Adaptive Sliding Mode Fixed-Time Tracking Control Based on Fixed-Time Sliding Mode Disturbance Observer with Dead-Zone Input

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-14 ◽  
Author(s):  
Hongbin Wang ◽  
Bo Su ◽  
Yueling Wang ◽  
Jing Gao
Keyword(s):  
Upper Bound ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Dead Zone ◽  
Fixed Time ◽  
High Order ◽  
Time Varying ◽  
Sliding Mode Disturbance Observer

Aiming at the problem of fixed-time trajectory tracking control for high-order dynamic systems with external time-varying disturbance and input dead-zone, an adaptive fixed-time sliding mode control algorithm is proposed by employing a fixed-time sliding mode disturbance observer (FTSMDO) and high-order fixed-time sliding mode algorithm. Firstly, a FTSMDO is presented for the problem that estimating the compound disturbance is composed of input dead-zone and time-varying external disturbance in the higher-order dynamic system, which cannot be measured accurately. Furthermore, for the case that the total disturbance of the system has an unknown upper bound, the corresponding adaptive law is designed to estimate the unknown upper bound, and the fixed-time controller is designed based on FTSMDO algorithm to make all state variables converge in a fixed-time. Based on Lyapunov technique, the fixed-time convergence performance of the proposed algorithm is proved. The effectiveness of the presented fixed-time control algorithm is verified by simulating the depth tracking control of the underactuated underwater vehicle.

scholarly journals Integral sliding mode-based formation control of multiple unertain robots via nonlinear disturbane observer

2016 ◽  
Vol 13 (6) ◽  
pp. 172988141667769 ◽  
Author(s):  
Dianwei Qian ◽  
Chengdong Li ◽  
Shiwen Tong ◽  
Lu Yu
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Formation Control ◽  
Sliding Mode ◽  
Nonlinear Disturbance Observer ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Control Scheme ◽  
Nonlinear Disturbance

This article proposes a control scheme for formation of maneuvers of a team of mobile robots. The control scheme integrates the integral sliding mode control method with the nonlinear disturbance observer technique. The leader–follower formation dynamics suffer from uncertainties originated from the individual robots. The uncertainties challenge the formation control of such robots. Assuming that the uncertainties are unknown but bounded, an nonlinear disturbance observer-based observer is utilized to approximate them. The observer outputs feed on an integral sliding mode control-based controller. The controller and observer are integrated into the control scheme to realize formation maneuvers despite uncertainties. The formation stability is analyzed by means of the Lyapunov’s theorem. In the sense of Lyapunov, not only the convergence of the approximation errors is guaranteed but also such a control scheme can asymptotically stabilize the formation system. Compared to the results by the sole integral sliding mode control, some simulations are presented to demonstrate the feasibility and performance of the control scheme.

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