Path Following Control of Autonomous Four-Wheel-Independent-Drive Electric Vehicles via Second-Order Sliding Mode and Nonlinear Disturbance Observer Techniques

2021 ◽  
Vol 68 (3) ◽  
pp. 2460-2469 ◽  
Author(s):  
Jiancheng Chen ◽  
Zhibin Shuai ◽  
Hui Zhang ◽  
Wanzhong Zhao
Keyword(s):  
Electric Vehicles ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Path Following ◽  
Second Order ◽  
Nonlinear Disturbance Observer ◽  
Path Following Control ◽  
Nonlinear Disturbance ◽  
Second Order Sliding Mode

A novel adaptive second order sliding mode path following control for a portable AUV

2018 ◽  
Vol 151 ◽  
pp. 82-92 ◽  
Author(s):  
Guo-cheng Zhang ◽  
Hai Huang ◽  
Hong-de Qin ◽  
Lei Wan ◽  
Yue-ming Li ◽  
...  
Keyword(s):  
Sliding Mode ◽  
Path Following ◽  
Second Order ◽  
Path Following Control ◽  
Second Order Sliding Mode

A Novel Nonlinear Disturbance Observer embedded Second-Order Finite Time Tracking-based Controller for Robotic Manipulators

2021 ◽  
pp. 1-27
Author(s):  
Bin Ren ◽  
Yao Wang ◽  
Jiayu Chen ◽  
Silu Chen
Keyword(s):  
Finite Time ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Tracking Error ◽  
Robotic Manipulators ◽  
Second Order ◽  
Terminal Sliding Mode ◽  
Nonlinear Disturbance Observer ◽  
Nonlinear Disturbance ◽  
Nonlinear Mechanical Systems

Abstract Robotic manipulators are complex and dynamic nonlinear mechanical systems subject to numerous uncertainties, such as payload variations, frictions, and unmodeled dynamics. To mitigate the uncertainty caused by these disturbances and minimize the tracking errors of the controllers, this study proposed a finite time tracking-based controller (FTC) that embeds a nonlinear disturbance observer (NDO) and a second-order sliding mode modifier (SOSM). The NDO was incorporated to compensate for the system's global bounded uncertainty and the SOSM employed a robust nonsingular terminal sliding-mode modifier to stabilize the controller. The theoretical analysis showed that the tracking error could quickly converge in finite time. Simulation on a typical robotics manipulator demonstrated the practical appeal of the proposed scheme.

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