Finite time convergence controller design for nonholonomic systems and its applications

2004 ◽  
Author(s):  
Yuqiang Wu ◽  
Bin Wang
Keyword(s):  
Finite Time ◽  
Controller Design ◽  
Nonholonomic Systems ◽  
Finite Time Convergence

scholarly journals Gliding-Guided Projectile Attitude Tracking Controller Design Based on Improved Adaptive Twisting Sliding Mode Algorithm

2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Wenguang Zhang ◽  
Wenjun Yi
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Closed Loop System ◽  
Finite Time Convergence ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Chattering Attenuation ◽  
Attitude Tracking Control

The finite-time attitude tracking control for gliding-guided projectile with unmatched and matched disturbance is investigated. An adaptive variable observer is used to provide estimation for the unmeasured state which contains unmatched disturbance. Then, an improved adaptive twisting sliding mode algorithm is proposed to compensate for the matched disturbance dynamically with better transient quality. Finally, a proof of the finite-time convergence of the closed-loop system under the disturbance observer and the adaptive twisting sliding mode-based controller is derived using the Lyapunov technique. This attitude tracking control scheme does not require any information on the bounds of uncertainties. Simulation results demonstrate that the proposed method which is able to acquire the minimum possible values of the control gains guaranteeing the finite-time convergence performs well in chattering attenuation and tracking precision.

scholarly journals Finite-Time Stabilization of Stochastic Nonholonomic Systems and Its Application to Mobile Robot

2012 ◽  
Vol 2012 ◽  
pp. 1-18 ◽  
Author(s):  
Fangzheng Gao ◽  
Fushun Yuan
Keyword(s):  
Mobile Robot ◽  
Finite Time ◽  
Controller Design ◽  
Design Procedure ◽  
Nonholonomic Systems ◽  
Finite Time Stability ◽  
Adding A Power Integrator ◽  
Time Control ◽  
Finite Time Stabilization ◽  
System States

This paper investigates the problem of finite-time stabilization for a class of stochastic nonholonomic systems in chained form. By using stochastic finite-time stability theorem and the method of adding a power integrator, a recursive controller design procedure in the stochastic setting is developed. Based on switching strategy to overcome the uncontrollability problem associated withx0(0)=0, global stochastic finite-time regulation of the closed-loop system states is achieved. The proposed scheme can be applied to the finite-time control of nonholonomic mobile robot subject to stochastic disturbances. The simulation results demonstrate the validity of the presented algorithm.

Robust Finite Time Controller Design for Second Order Underactuated Mechanical Systems

2013 ◽  
Vol 284-287 ◽  
pp. 2310-2314 ◽  
Author(s):  
Kuang Shine Yang ◽  
Chi Cheng Cheng ◽  
Jung Hua Yang
Keyword(s):  
Lyapunov Stability ◽  
Finite Time ◽  
Controller Design ◽  
Tracking Error ◽  
Mechanical Systems ◽  
Second Order ◽  
Underactuated Systems ◽  
Underactuated Mechanical Systems ◽  
Pendulum System ◽  
Finite Time Convergence

Stabilization and tracking control of nonlinear uncertain underactuated systems are always challenging problems because underacturated systems have fewer independent control actuators than degrees of freedom to be controlled. For a class of second order underactuated mechanical systems, a robust finite time control strategy is developed in this paper. The robust finite time controller is to drive the tracking error to be zero at the fixed final time. In fact, finite time convergence implies nonsmooth or non-Lipschitz continuous autonomous systems with nonuniqueness of solution. In order to prove the stability, we present a generalized Lyapunov stability proof for the second order underactuated mechanical system. By utilizing a Lyapunov stability theorem, we can achieve finite time tracking of desired reference signals for underactuated systems, which is subject to both external disturbances and system uncertainties. The proposed control scheme is demonstrated by actual experiments on a Furuta pendulum system. Based on the experiment results, the finite time convergence of system errors can be assured.

Disturbance observer and finite-time tracker design of disturbed third-order nonholonomic systems using terminal sliding mode

2016 ◽  
Vol 23 (2) ◽  
pp. 181-189 ◽  
Author(s):  
Saleh Mobayen ◽  
Shamsi Javadi
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Approximation Error ◽  
Nonholonomic Systems ◽  
Control Technique ◽  
Third Order ◽  
Terminal Sliding Mode ◽  
Finite Time Convergence

This paper proposes a novel recursive terminal sliding mode structure for tracking control of third-order chained–form nonholonomic systems in the presence of the unknown external disturbances. Finite-time convergence of the disturbance approximation error is guaranteed using the designed disturbance observer. Under the proposed terminal sliding model tracking control technique, the finite-time convergence of the states of the closed-loop system is guaranteed via Lyapunov analysis. A new reaching control law is proposed to guarantee the existence of the sliding mode around the recursive TSM surface in a finite-time. Simulation results are illustrated on a benchmark example of third-order chained-form nonholonomic systems: a wheeled mobile robot. The results demonstrate that the proposed control technique achieves promising tracking performance for nonholonomic systems.

Fractional Order Fast Terminal Sliding Mode Controller Design with Finite-Time Convergence: Application to Quadrotor UAV

2021 ◽  
Author(s):  
Hamed Farbakhsh ◽  
Mahsan Tavakoli-Kakhki ◽  
Hamid D. Taghirad ◽  
Roohallah Azarmi ◽  
Fabrizio Padula
Keyword(s):  
Fractional Order ◽  
Finite Time ◽  
Controller Design ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode ◽  
Quadrotor Uav ◽  
Finite Time Convergence ◽  
Fast Terminal Sliding Mode

A variable structure filter with finite time convergence

2014 ◽  
Author(s):  
Shi Zhengqiang ◽  
Pei Zhongcai
Keyword(s):  
Finite Time ◽  
Variable Structure ◽  
Finite Time Convergence

Adaptive neural control for a tilting quadcopter with finite-time convergence

2021 ◽  
Author(s):  
Meichen Liu ◽  
Ruihang Ji ◽  
Shuzhi Sam Ge ◽  
Keyword(s):  
Finite Time ◽  
Neural Control ◽  
Adaptive Neural Control ◽  
Finite Time Convergence
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