Integral terminal sliding mode formation control of non-holonomic robots using leader follower approach

Robotica ◽  
2016 ◽  
Vol 35 (7) ◽  
pp. 1473-1487 ◽  
Author(s):  
Muhammad Asif ◽  
Muhammad Junaid Khan ◽  
Attaullah Y. Memon
Keyword(s):  
Formation Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Obstacle Detection ◽  
Lyapunov Theory ◽  
Terminal Sliding Mode ◽  
Loop Control ◽  
The Stability ◽  
Close Loop Control ◽  
Multi Robot

SUMMARYMulti-robot formation control has become an important area of research due to its advantages and applications. This paper presents multi-robot formation control using a leader–follower approach without considering the leader's velocity information or estimation. The leader–follower formation is formulated by incorporating the model uncertainties and disturbances. A novel formation controller is presented using integral terminal sliding mode (ITSM) control, which drives the formation tracking error convergence to zero in finite-time. The stability of the close-loop control scheme is verified by using Lyapunov theory. Furthermore, obstacle detection and avoidance are incorporated to avoid collision while maintaining the formation. The effectiveness of the proposed controller is verified and validated using sine and lamniscate curve trajectories. Moreover, the performance of the proposed ITSM formation controller is compared with the standard linear sliding mode (LSM) control.

A novel nonsingular integral terminal sliding mode control scheme in epilepsy treatment

2021 ◽  
pp. 014233122110507
Author(s):  
Moshu Qian ◽  
Zhen Zhang ◽  
Guanghua Zhong ◽  
Cuimei Bo
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Sliding Mode ◽  
Tracking Error ◽  
Lyapunov Theory ◽  
Terminal Sliding Mode ◽  
Loop Control ◽  
Control Approach ◽  
Control Scheme ◽  
Loop Control System

In this paper, a closed-loop brain stimulation control problem is investigated using the nonsingular integral terminal sliding mode (NITSM) control approach. First, the thalamocortical model of epilepsy seizure is given, which is composed of the cortical PY-IN subnetwork and the subcortical RE-TC subsystem. Then, a nonsingular integral terminal sliding mode surface is designed utilizing the derived output tracking error, and the stability of the sliding mode dynamics is proved by Lyapunov approach. Furthermore, a disturbance observer (DOB) based NITSM controller design approach is proposed for the established thalamocortical model, and the reachability of the closed-loop control system under the designed controller is analyzed using Lyapunov theory. Finally, simulation results are given to illustrate the effectiveness and superiority of the designed control scheme.

scholarly journals Fault-Tolerant Control for N-Link Robot Manipulator via Adaptive Nonsingular Terminal Sliding Mode Control Technology

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Nannan Shi ◽  
Fanghui Luo ◽  
Zhikuan Kang ◽  
Lihui Wang ◽  
Zhuo Zhao ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Tracking Error ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode ◽  
The Stability

An adaptive nonsingular terminal sliding mode control (ANTSMC) scheme for the n-link robot manipulator is presented in this study, which can achieve faster convergence and higher precision tracking compared with the linear hyperplane-based sliding mode control. Novel adaptive updating laws based on the actual tracking error are employed to online adjust the upper bound of uncertainty, which comprehensively consider both the tracking performance and chattering eliminating problem. The stability analysis of the proposed ANTSMC is verified using the Lyapunov method with the existence of the parameter uncertainty and the actuator faults. Numerical simulation studies the comparison of performance between ANTSMC and the conventional nonsingular terminal sliding mode control (NTSMC) scheme to validate the advantages of the proposed control algorithm.

scholarly journals A Dynamics Controller Design Method for Car-like Mobile Robot Formation Control

2018 ◽  
Vol 160 ◽  
pp. 06003
Author(s):  
Baofang Wang ◽  
Chen Qian ◽  
Qingwei Chen
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Design Method ◽  
Lyapunov Theory ◽  
State Equations ◽  
Characteristic Model ◽  
The Stability ◽  
Error State

A dynamics controller design method based on characteristic model is proposed for the formation control problem of car-like mobile robots. Only kinematics controller is not enough for some cases such as the environment is rugged, and the dynamics parameters of the robot are time-varying. Simulation results show that the proposed method can improve the responding speed of the mobile robots and maintain high formation accuracy. First, we obtain the kinematic error state equations according to the leader-follower method. A kinematics controller is designed and the stability is proved by Lyapunov theory. Then the characteristic model of the dynamics inner loop is established. A sliding mode controller is designed based on the second order discrete model, and the stability of the closed-loop system is analyzed. Finally, simulations are designed in MATLAB and Microsoft Robotics Developer Studio 4 (MRDS) to verify the effectiveness of the proposed method.

scholarly journals Adaptive Terminal Sliding Mode NDO-Based Control of Underactuated AUV in Vertical Plane

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Wei Chen ◽  
Yanhui Wei ◽  
Jianhui Zeng ◽  
Han Han ◽  
Xianqiang Jia
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
External Disturbance ◽  
Vertical Plane ◽  
Lyapunov Theory ◽  
Terminal Sliding Mode ◽  
Control Effectiveness ◽  
Tracking Process ◽  
Underactuated Auv ◽  
The Stability

The depth tracking issue of underactuated autonomous underwater vehicle (AUV) in vertical plane is addressed in this paper. Considering the complicated dynamics and kinematics model for underactuated AUV, a more simplified model is obtained based on assumptions. Then a nonlinear disturbance observer (NDO) is presented to estimate the external disturbance acting on AUV, and an adaptive terminal sliding mode control (ATSMC) based on NDO is applied to enhance the depth tracking performance of underactuated AUV considering both internal and external disturbance. Compared with the traditional sliding mode controller, the static error and chattering problem of the depth tracking process have been clearly improved by adopting NDO-based ATSMC. The stability of control system is proven to be guaranteed according to Lyapunov theory. In the end, simulation results imply that the proposed controller owns strong robustness and satisfied control effectiveness in comparison with the traditional controller.

scholarly journals Robust Integral Terminal Sliding Mode Control for Quadrotor UAV with External Disturbances

2019 ◽  
Vol 2019 ◽  
pp. 1-10 ◽  
Author(s):  
Moussa Labbadi ◽  
Mohamed Cherkaoui
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Terminal Sliding Mode Control ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
The Stability ◽  
The Right ◽  
Quadrotor System

The purpose of this paper is to solve the problem of controlling of the quadrotor exposed to external constant disturbances. The quadrotor system is partitioned into two parts: the attitude subsystem and the position subsystem. A new robust integral terminal sliding mode control law (RITSMC) is designed for stabilizing the inner loop and the quick tracking of the right desired values of the Euler angles. To estimate the disturbance displayed on the z-axis and to control the altitude position subsystem, an adaptive backstepping technique is proposed, while the horizontal position subsystem is controlled using the backstepping approach. The stability of the quadrotor subsystems is guaranteed by the Lyapunov theory. The effectiveness of the proposed methods is clearly comprehended through the obtained results of the various simulations effectuated on MATLAB/Simulink, and a comparison with another technique is presented.

Global Robust Terminal Sliding Mode Control for PMLSM Servo System

2013 ◽  
Vol 273 ◽  
pp. 280-285 ◽  
Author(s):  
Hong Pei Han ◽  
Wu Wang ◽  
Zheng Min Bai
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
External Load ◽  
Sliding Mode ◽  
Servo System ◽  
Lyapunov Theory ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
The Stability

Permanent Magnet Linear Synchronous Motor (P MLSM was hard to control with traditional control strategy for parameters variation and external load disturbance, a global robust terminal sliding mode control (GRTSMC) was designed for PMLSM servo system, the sliding mode surface function was designed, the robust sliding mode control law was deduced and the stability was proved by Lyapunov theory. With the mathematical models of PMLSM, the simulation was taken with traditional PID control, SMC control and GRTSMC control proposed in this paper, the robust performance be found with GRTSMC control when motor parameters and external load changed, the efficiency and advantages of this robust control strategy was successfully demonstrated.

scholarly journals Applied Mechatronics: On Mitigating Disturbance Effects in MEMS Resonators Using Robust Nonsingular Terminal Sliding Mode Controllers

Machines ◽  
2022 ◽  
Vol 10 (1) ◽  
pp. 34
Author(s):  
Aydin Azizi ◽  
Hamed Mobki ◽  
Hassen M. Ouakad ◽  
Omid Reza B. Speily
Keyword(s):  
Control Strategy ◽  
Sliding Mode ◽  
Response Speed ◽  
Lyapunov Theory ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mems Resonators ◽  
Nonsingular Terminal Sliding Mode ◽  
Sliding Mode Controllers ◽  
The Stability

This investigation attempts to study a possible controller in improving the dynamic stability of capacitive microstructures through mitigating the effects of disturbances and uncertainties in their resultant dynamic behavior. Consequently, a nonsingular terminal sliding mode control strategy is suggested in this regard. The main features of this particular control strategy are its high response speed and its non-reliance on powerful controller forces. The stability of the controller was investigated using Lyapunov theory. For this purpose, a suitable Lyapunov function was introduced to prove the stability of a controller, and the singularity conditions and methods to overcome these conditions are presented. The achieved results proved the high capability of the applied technique in stabilizing of the microstructure as well as mitigating the effects of disturbances and uncertainties.

Multi-Agent Tracking of Non-Holonomic Mobile Robots via Non-Singular Terminal Sliding Mode Control

Robotica ◽  
2019 ◽  
Vol 38 (11) ◽  
pp. 1984-2000 ◽  
Author(s):  
Bilal M. Yousuf ◽  
Abdul Saboor Khan ◽  
Aqib Noor
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Tracking Error ◽  
Kinematic Model ◽  
Tracking Problem ◽  
Terminal Sliding Mode ◽  
Control Scheme ◽  
Multi Agent

SUMMARYThis paper deals with the problem of the formation control of nonholonomic mobile robots in the leader–follower scenario without considering the leader information, as a result of its velocity and position. The kinematic model is reformulated as a formation model by incorporating the model uncertainties and external disturbance. The controller is presented in the two-step process. Firstly, the tracking problem is taken into consideration, which can be used as a platform to design a controller for the multi-agents. The proposed controller is designed based on a non-singular fast terminal sliding mode controller (FTSMC), which drives the tracking error to zero in finite time. It not only ensures the tracking but also handles the problem related to non-singularities. Moreover, the design control scheme is modified using high-gain observer to resolve the undefined fluctuations due to man-made errors in sensors. Secondly, the multi-agent tracking problem is considered; hence, a novel formation control is designed using FTSMC, which ensures the formation pattern as well as tracking. Furthermore, the obstacle avoidance algorithm is incorporated to avoid the collision, inside the region of interest. With the Lyapunov analysis, the stability of the proposed algorithm is verified. As a result, simulated graphs are shown to prove the efficacy of the proposed control scheme.

scholarly journals Adaptive compound second-order terminal sliding mode control for the longitudinal attitude control of the fully submerged hydrofoil vessel

2019 ◽  
Vol 11 (12) ◽  
pp. 168781401989563 ◽  
Author(s):  
Sheng Liu ◽  
Hongmin Niu ◽  
Lanyong Zhang ◽  
Xiaojie Guo
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Small Neighborhood ◽  
Second Order ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Fast Tracking ◽  
Mode Control ◽  
The Stability

Due to the ever-existing environmental disturbance of ocean wave and nonlinear of the system, it is difficult to obtain a satisfying control performance for the longitudinal attitude and desired height tracking of the fully submerged hydrofoil vessel. To solve such problems, an adaptive compound second-order terminal sliding mode controller is proposed. First, a combination of the complementary sliding mode surface and second-order terminal sliding mode control is introduced. Therefore, the closed system is uniformly ultimately bounded, and the steady-state errors converge to a small neighborhood of equilibrium point. Second, the chattering problem in an actual controller is solved by eliminating the sign function contained in the controller after integration without influencing the stability of the closed-loop system. Besides, a revised adaptive radial basis function neural network is introduced to estimate the derivative of the unknown environmental disturbances without the prior information of the disturbance. Finally, the stability of the system is proved by the Lyapunov stability theory. Numerical experimental results demonstrate that the proposed method possesses fast tracking ability and can decrease the stabilization error and the tracking error simultaneously.

Sign in / Sign up

Export Citation Format

Share Document