Sliding mode tracking control with differential evolution optimisation algorithm using integral-chain differentiator in uncertain nonlinear systems

Aiming at the tracking control problem of a class of uncertain nonlinear systems, a nonsingular fast terminal sliding mode control scheme combining RBF network and disturbance observer is proposed. The sliding mode controller is designed by using nonsingular fast terminal sliding mode and second power reaching law to solve the problem of singularity and slow convergence in traditional terminal sliding mode control. By using the universal approximation of RBF network, the unknown nonlinear function of the system is approximated, and the disturbance observer is designed by using the hyperbolic tangent nonlinear tracking differentiator (TANH-NTD) to estimate the interference of the system and enhance the robustness of the system. The stability of the system is proved by the Lyapunov principle. The numerical simulation results show that the method can shorten the system arrival time, improve the tracking accuracy, and suppress the chattering phenomenon.

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Continuous Sliding Mode Tracking Control with Robust Observer for Nonlinear Systems with Control Gain Uncertainty

International Journal of Control and Automation ◽

10.14257/ijca.2014.7.5.39 ◽

2014 ◽

Vol 7 (5) ◽

pp. 397-408

Author(s):

Xiaoyu Zhang

Keyword(s):

Nonlinear Systems ◽

Tracking Control ◽

Sliding Mode ◽

Robust Observer ◽

Control Gain ◽

Mode Tracking

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Integral Terminal Sliding Mode Control for a Class of Nonaffine Nonlinear Systems with Uncertainty

Mathematical Problems in Engineering ◽

10.1155/2013/636494 ◽

2013 ◽

Vol 2013 ◽

pp. 1-11 ◽

Cited By ~ 5

Author(s):

Qiang Zhang ◽

Hongliang Yu ◽

Xiaohong Wang

Keyword(s):

Nonlinear Systems ◽

Sliding Mode Control ◽

Tracking Control ◽

Disturbance Observer ◽

Sliding Mode ◽

Terminal Sliding Mode Control ◽

Terminal Sliding Mode ◽

Mode Control ◽

Mode Tracking ◽

Nonaffine Nonlinear Systems

This paper is concerned with an integral terminal sliding mode tracking control for a class of uncertain nonaffine nonlinear systems. Firstly, the nonaffine nonlinear systems is approximated to facilitate the desired control design via a novel dynamic modeling technique. Next, for the unmeasured disturbance of nonlinear systems, integral terminal sliding mode disturbance observer is presented. The developed disturbance observer can guarantee the disturbance approximation error to converge to zero in the finite time. Subsequently, based on approximated nonlinear model and the designed disturbance observer, the integral terminal sliding mode tracking control is presented for nonaffine nonlinear systems with uncertainty. Different from traditional terminal sliding-mode control, this paper accomplishes finite convergence time for nonaffine nonlinear systems and avoids the singular problem in the controller design. Furthermore, the control system is forced to start on the terminal sliding hyperplane, so that the reaching time of the sliding modes is eliminated. Finally, two numerical simulation results are given to illustrate the effectiveness of the proposed method.

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