scholarly journals Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles

2014 ◽  
Vol 2014 ◽  
pp. 1-19 ◽  
Author(s):  
Yaoyao Wang ◽  
Jiawang Chen ◽  
Linyi Gu
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Output Feedback ◽  
Finite Time ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Remotely Operated Vehicles ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode

For the 4-DOF (degrees of freedom) trajectory tracking control problem of underwater remotely operated vehicles (ROVs) in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC) technique is introduced in light of the equivalent output injection sliding mode observer (SMO) and TSMC principle and fractional calculus technology. The equivalent output injection SMO is applied to reconstruct the full states in finite time. Meanwhile, the FO-NTSMC algorithm, based on a new proposed fractional-order switching manifold, is designed to stabilize the tracking error to equilibrium points in finite time. The corresponding stability analysis of the closed-loop system is presented using the fractional-order version of the Lyapunov stability theory. Comparative numerical simulation results are presented and analyzed to demonstrate the effectiveness of the proposed method. Finally, it is noteworthy that the proposed output feedback FO-NTSMC technique can be used to control a broad range of nonlinear second-order dynamical systems in finite time.

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.

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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