Adaptive Continuous Barrier Function Terminal Sliding Mode Control Technique for Disturbed Robotic Manipulator

2021 ◽  
pp. 1-10
Author(s):  
Saleh Mobayen ◽  
Khalid A. Alattas ◽  
Wudhichai Assawinchaichote
Keyword(s):  
Sliding Mode Control ◽  
Barrier Function ◽  
Sliding Mode ◽  
Robotic Manipulator ◽  
Control Technique ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control

scholarly journals Nonsingular Terminal Sliding Mode Control Based on Adaptive Barrier Function for nth-Order Perturbed Nonlinear Systems

Mathematics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 43
Author(s):  
Khalid A. Alattas ◽  
Javad Mostafaee ◽  
Abdullah K. Alanazi ◽  
Saleh Mobayen ◽  
Mai The Vu ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Chaotic System ◽  
Finite Time ◽  
Barrier Function ◽  
Sliding Mode ◽  
Control Technique ◽  
Control Procedure ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control

In this study, an adaptive nonsingular finite time control technique based on a barrier function terminal sliding mode controller is proposed for the robust stability of nth-order nonlinear dynamic systems with external disturbances. The barrier function adaptive terminal sliding mode control makes the convergence of tracking errors to a region near zero in the finite time. Moreover, the suggested method does not need the information of upper bounds of perturbations which are commonly applied to the sliding mode control procedure. The Lyapunov stability analysis proves that the errors converge to the determined region. Last of all, simulations and experimental results on a complex new chaotic system with a high Kaplan–Yorke dimension are provided to confirm the efficacy of the planned method. The results demonstrate that the suggested controller has a stronger tracking than the adaptive controller and the results are satisfactory with the application of the controller based on chaotic synchronization on the chaotic system.

Design of a non-singular fast terminal sliding mode control for second-order nonlinear systems with compound disturbance

2021 ◽  
pp. 095440622110329
Author(s):  
Mohammad Reza Salehi Kolahi ◽  
Mohammad Reza Gharib ◽  
Ali Heydari
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Path Tracking ◽  
Second Order ◽  
Control Technique ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode ◽  
Compound Disturbance

This paper investigates a new disturbance observer based non-singular fast terminal sliding mode control technique for the path tracking and stabilization of non-linear second-order systems with compound disturbance. The compound disturbance is comprised of both parametric and non-parametric uncertainties. While warranting fast convergence rate and robustness, it also dominates the singularity and complex-value number issues associated with conventional terminal sliding mode control. Furthermore, due to the estimation properties of the observer, knowledge about the bounds of the uncertainties is not required. The simulation results of two case studies, the velocity and path tracking of an autonomous underwater vehicle and the stabilization of a chaotic Φ6-Duffing oscillator, validate the efficacy of the proposed method.

scholarly journals Terminal Sliding-Mode Control of Uncertain Robotic Manipulator System with Predefined Convergence Time

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-16
Author(s):  
Yang Wang ◽  
Mingshu Chen ◽  
Yu Song
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Design Method ◽  
Robotic Manipulator ◽  
Convergence Time ◽  
Terminal Sliding Mode Control ◽  
Tracking Errors ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Control Scheme

This paper concentrates on the predefined-time trajectory tracking for an uncertain robotic manipulator system. First, a modified predefined-time control (PTC) algorithm is proposed. Subsequently, with the help of proposed modified PTC algorithm and the nonsingular design method of terminal sliding mode, a novel nonsingular terminal sliding-mode control (NTSMC) scheme is proposed for ensuring the predefined-time convergence of tracking errors. The advantages of the newly proposed control scheme are as follows. (i) Unlike the conventional predefined-time sliding-mode control (SMC) which only guarantees the predefined-time convergence of sliding-mode surface, the proposed scheme can guarantee the predefined-time convergence of tracking errors. (ii) Compared with the conventional PTC algorithm, the proposed modified PTC algorithm can reduce the initial control peaking and enhance the precision of convergence time. The performance and effectiveness of the proposed control scheme are illustrated by comparing with the existing methods.

A novel non-singular terminal sliding mode control combined with integral sliding surface for perturbed quadrotor

2021 ◽  
pp. 095965182110647
Author(s):  
Moussa Labbadi ◽  
Mohamed Djemai ◽  
Sahbi Boubaker
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Control Technique ◽  
Terminal Sliding Mode Control ◽  
Sliding Surface ◽  
Proportional Integral Derivative ◽  
Terminal Sliding Mode ◽  
Proportional Integral ◽  
Mode Control

In this article, a new dynamic non-singular terminal sliding mode control technique for a quadrotor system subjected to external disturbances is evaluated. The offered control approach is based on non-singular terminal sliding mode controller combined with proportional–integral–derivative sliding surface to improve the performance. The proposed controller is formulated using the Lyapunov theory which ensured the existence of the sliding mode surfaces in finite time. Furthermore, the chattering problem, caused by the switching position and attitude laws, has been reduced using the proposed controller. Moreover, a high-precision performance trajectory tracking can be obtained. The problem of the disturbances is addressed using the suggested controller. Simulation results show the feasibility and efficiency of the non-singular terminal sliding mode control-proportional–integral–derivative proposed approach.

Second-order fast terminal sliding mode control design based on LMI for a class of non-linear uncertain systems and its application to chaotic systems

2016 ◽  
Vol 23 (18) ◽  
pp. 2912-2925 ◽  
Author(s):  
Saleh Mobayen ◽  
Dumitru Baleanu ◽  
Fairouz Tchier
Keyword(s):  
Sliding Mode Control ◽  
Uncertain Systems ◽  
Sliding Mode ◽  
Second Order ◽  
Control Technique ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode ◽  
Non Linear

In this paper, an linear matrix inequalities (LMI)-based second-order fast terminal sliding mode control technique is investigated for the tracking problem of a class of non-linear uncertain systems with matched and mismatched uncertainties. Using the offered approach, a robust chattering-free control scheme is presented to prove the presence of the switching around the sliding surface in the finite time. Based on the Lyapunov stability theorem, the LMI conditions are presented to make the state errors into predictable bounds and the parameters of the controller are obtained in the form of LMI. The control structure is independent of the order of the model. Then, the proposed method is fairly simple and there is no difficulty in the use of this scheme. Simulations on the well-known Genesio's chaotic system and Chua's circuit system are employed to emphasize the success of the suggested scheme. The simulation results on the Genesio's system demonstrate that the offered technique leads to the superior improvement on the control effort and tracking performance.

Sign in / Sign up

Export Citation Format

Share Document