scholarly journals A Finite-Time Disturbance Observer Based Full-Order Terminal Sliding-Mode Controller for Manned Submersible with Disturbances

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Xing Fang ◽  
Fei Liu
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
System Stability ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Manned Submersible

A novel full-order terminal sliding-mode controller (FOTSMC) based on the finite-time disturbance observer (FTDO) is proposed for the “JIAOLONG” manned submersible with lumped disturbances. First, a finite-time disturbance observer (FTDO) is developed to estimate the lumped disturbances including the external disturbances and model uncertainties. Second, a full-order terminal sliding-mode surface is designed for the manned submersible, whose sliding-mode motion behaves as full-order dynamics rather than reduced-order dynamics in conventional sliding-mode control systems. Then, a continuous sliding-mode control law is developed to avoid chattering phenomenon, as well as to drive the system outputs to the desired reference trajectory in finite time. Furthermore, the closed-loop system stability analysis is given by Lyapunov theory. Finally, the simulation results demonstrate the satisfactory tracking performance and excellent disturbance rejection capability of the proposed finite-time disturbance observer based full-order terminal sliding-mode control (FTDO-FOTSMC) method.

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.

A novel second-order sliding mode control based on the Lyapunov method

2018 ◽  
Vol 41 (4) ◽  
pp. 1068-1078 ◽  
Author(s):  
Lu Liu ◽  
Shihong Ding ◽  
Li Ma ◽  
Haibin Sun
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Disturbance Observer ◽  
Control Method ◽  
Sliding Mode ◽  
Second Order ◽  
Lyapunov Theory ◽  
Mode Control ◽  
Mismatched Disturbance ◽  
Second Order Sliding Mode

In this paper, a novel discontinuous second-order sliding mode control approach has been developed to handle sliding mode dynamics with a nonvanishing mismatched disturbance by using Lyapunov theory and a finite-time disturbance observer. Firstly, the finite-time disturbance observer is designed to estimate the nonvanishing mismatched disturbance. Secondly, a virtual controller has been constructed based on the estimated value such that the sliding variable can be stabilized to zero in a finite time. Then, the real discontinuous controller is designed to guarantee that the virtual controller can be well tracked in a finite time. Lyapunov analysis also verifies the finite-time stability of the closed-loop sliding mode control system. The developed discontinuous second-order sliding mode control method possesses two appealing features including strong robustness with respect to the matched and mismatched nonvanishing disturbances, and relaxation on the constant upper bound of uncertainties widely used in a conventional second-order sliding mode. Finally, an academic example is illustrated to verify 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.

Fuzzy Adaptive Nonsingular Terminal Sliding Mode Control for a Three-Links Spatial Robot

2013 ◽  
Vol 655-657 ◽  
pp. 1048-1052
Author(s):  
Sheng Bin Hu ◽  
Wen Hua Lu ◽  
Xing Yuan Zhang ◽  
Hai Rong Xu ◽  
Da Min Cao
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Control Input ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode ◽  
Control Scheme

To achieve high performance tracing control of the three-links spatial robot, a nonsingular terminal fuzzy sliding mode control method is proposed in this paper. Firstly, the control method can efficiently avoid the singularity of the generally terminal sliding mode controller through designing nonsingular terminal sliding mode surface. Secondly, to diminish the chattering in the control input, a fuzzy controller is designed to adjust the gain of nonsingular terminal sliding mode controller according to the normal of nonsingular terminal sliding mode surface. The stability of the control scheme is verified by using Lyapunov theory. The proposed controller is then applied to the control of a three-links spatial robot. Simulation results show the validity of the proposed control scheme.

A finite-time sliding mode control for hypersonic vehicle

2019 ◽  
Vol 41 (15) ◽  
pp. 4339-4350 ◽  
Author(s):  
Qingwen Ma ◽  
Jianguo Guo ◽  
Jun Zhou
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Hypersonic Vehicle ◽  
Lyapunov Theory ◽  
Terminal Sliding Mode ◽  
Finite Time Stability ◽  
Mode Control ◽  
Time Control ◽  
Longitudinal Dynamic

In this paper, a finite-time control strategy based on back-stepping method combining with a terminal sliding mode control (TSMC) and a nonlinear disturbance observer (NDO) is proposed for the longitudinal dynamic model of hypersonic vehicle (HV). Firstly, the model of HV is transformed into two strict feedback subsystem: the mismatched subsystem of altitude and the matched subsystem of velocity. Then, the TSMC and back-stepping method is incorporated to cope with the unmatched issue in the HV altitude subsystem. In addition, a NDO based on a finite-time-convergent differentiator (FD) is proposed to estimate the lumped disturbances. The finite-time stability condition of the system is established via the Lyapunov theory. Finally, the robustness and effectiveness of the method are verified by simulations.

Sliding Mode Control in Finite Time Stabilization for Synchronization of Chaotic Systems

2013 ◽  
Vol 655-657 ◽  
pp. 1484-1487
Author(s):  
Jing Zhang
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Chaotic Systems ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
System Stability ◽  
Adaptive Sliding Mode Control ◽  
Mode Control ◽  
System Uncertainties ◽  
Simulation Results

An adaptive sliding mode control for chaotic systems synchronization is considered. The design of robust finite time convergent controller is based on geometric homogeneity and integral sliding mode manifold. The knowledge of the upper bound of the system uncertainties is not prior required. System stability is proven by Lyapunov theory. The simulation results show the effectiveness of the proposed method.

Performance Comparison of Standard Terminal Sliding Mode Control and Non-Singular Terminal Sliding Mode Control

2012 ◽  
Vol 588-589 ◽  
pp. 1654-1658
Author(s):  
Fei Yang ◽  
Wu Wang
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Nonlinear Function ◽  
Performance Comparison ◽  
Lyapunov Theory ◽  
Singular Problem ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control

Terminal sliding mode control (TSMC) was designed with introduction nonlinear function into sliding hyper-plane, which makes tracing error converge to zero in finite time. The standard TSMC (STSMC) control and non-singular TSMC (NTSMC) control was designed for an uncertain two-order nonlinear dynamic system, the sliding function and controller of STSMC control and NTSMC control are designed respectively, also the finite time of arrival was analyze. The stability was proved with Lyapunov theory, the performance comparison of STSMC and NTSMC was simulated with conclusions that STSMC control and NTSMC control are all feasible control for nonlinear system, STSMC control exist singular problem, but NTSMC control without singular problem, with sliding surface and control law with different parameters, the control characteristic can realized, which was suitable for special control system.

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