Adaptive disturbance observer based novel fixed-time nonsingular terminal sliding mode control for a class of DoF nonlinear systems

2021 ◽  
pp. 1-1
Author(s):  
Haihui Long ◽  
Tianli Guo ◽  
Jiankang Zhao
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Fixed Time ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode

Fractional-order nonsingular terminal sliding mode control via a disturbance observer for a class of nonlinear systems with mismatched disturbances

2020 ◽  
pp. 107754632092526
Author(s):  
Amir Razzaghian ◽  
Reihaneh Kardehi Moghaddam ◽  
Naser Pariz
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Finite Time ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Nonsingular Terminal Sliding Mode

This study investigates a novel fractional-order nonsingular terminal sliding mode controller via a finite-time disturbance observer for a class of mismatched uncertain nonlinear systems. For this purpose, a finite-time disturbance observer–based fractional-order nonsingular terminal sliding surface is proposed, and the corresponding control law is designed using the Lyapunov stability theory to satisfy the sliding condition in finite time. The proposed fractional-order nonsingular terminal sliding mode control based on a finite-time disturbance observer exhibits better control performance; guarantees finite-time convergence, robust stability of the closed-loop system, and mismatched disturbance rejection; and alleviates the chattering problem. Finally, the effectiveness of the proposed fractional-order robust controller is illustrated via simulation results of both the numerical and application examples which are compared with the fractional-order nonsingular terminal sliding mode controller, sliding mode controller based on a disturbance observer, and integral sliding mode controller methods.

scholarly journals Disturbance Observer-Based Chattering-Attenuated Terminal Sliding Mode Control for Nonlinear Systems Subject to Matched and Mismatched Disturbances

2021 ◽  
Vol 11 (17) ◽  
pp. 8158
Author(s):  
Duc Giap Nguyen ◽  
Duc Thien Tran ◽  
Kyoung Kwan Ahn
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Target System ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Disturbance Estimation ◽  
Mode Control ◽  
Mismatched Disturbances

This work presents a new disturbance observer-based chattering-attenuated terminal sliding mode control for a class of nonlinear systems in the presence of both mismatched and matched disturbances. A nonlinear disturbance observer is typically employed to accurately estimate mismatched disturbances. In this study, a terminal sliding mode control was designed, based on the disturbance estimation results, to counter the effects of disturbances and ultimately stabilize the target system. The utilization of a chattering-attenuated full-order terminal sliding mode structure satisfactorily resolves both chattering and singularity problems in controller design. It was shown by theoretical analyses that both the disturbance estimation error and the system state converge to the equilibrium point in finite time. Two simulation studies, namely a numerical example and an application to an electro hydrostatic actuator system, were conducted to examine the characteristics and to verify the effectiveness of the proposed algorithm.

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

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
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.

Nonsingular terminal sliding mode control for micro-electro-mechanical gyroscope based on disturbance observer: Linear matrix inequality approach

2021 ◽  
pp. 107754632098819
Author(s):  
Maryam Jafari ◽  
Saleh Mobayen ◽  
Hubert Roth ◽  
Farhad Bayat
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Linear Matrix ◽  
Terminal Sliding Mode Control ◽  
Matrix Inequality ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode

The aim of this article is to design a nonsingular terminal sliding mode control method based on disturbance observer for the stabilization of the micro-electro-mechanical systems under lumped perturbation. By using the nonsingular terminal sliding mode control scheme, the state trajectories of the system achieve the switching surface and approach to the origin in the finite time. Also, by utilizing the disturbance observer, the finite-time convergence of disturbance error is assured. In the process of design, the optimized coefficients of the sliding surface are calculated in the form of linear matrix inequality. Simulation results for a micro-electro-mechanical gyroscope are illustrated to exhibit the validity of the planned approach in comparison with the other methods.

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