scholarly journals Robust Integral Terminal Sliding Mode Control for Quadrotor UAV with External Disturbances

2019 ◽  
Vol 2019 ◽  
pp. 1-10 ◽  
Author(s):  
Moussa Labbadi ◽  
Mohamed Cherkaoui
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Terminal Sliding Mode Control ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
The Stability ◽  
The Right ◽  
Quadrotor System

The purpose of this paper is to solve the problem of controlling of the quadrotor exposed to external constant disturbances. The quadrotor system is partitioned into two parts: the attitude subsystem and the position subsystem. A new robust integral terminal sliding mode control law (RITSMC) is designed for stabilizing the inner loop and the quick tracking of the right desired values of the Euler angles. To estimate the disturbance displayed on the z-axis and to control the altitude position subsystem, an adaptive backstepping technique is proposed, while the horizontal position subsystem is controlled using the backstepping approach. The stability of the quadrotor subsystems is guaranteed by the Lyapunov theory. The effectiveness of the proposed methods is clearly comprehended through the obtained results of the various simulations effectuated on MATLAB/Simulink, and a comparison with another technique is presented.

Global Robust Terminal Sliding Mode Control for PMLSM Servo System

2013 ◽  
Vol 273 ◽  
pp. 280-285 ◽  
Author(s):  
Hong Pei Han ◽  
Wu Wang ◽  
Zheng Min Bai
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
External Load ◽  
Sliding Mode ◽  
Servo System ◽  
Lyapunov Theory ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
The Stability

Permanent Magnet Linear Synchronous Motor (P MLSM was hard to control with traditional control strategy for parameters variation and external load disturbance, a global robust terminal sliding mode control (GRTSMC) was designed for PMLSM servo system, the sliding mode surface function was designed, the robust sliding mode control law was deduced and the stability was proved by Lyapunov theory. With the mathematical models of PMLSM, the simulation was taken with traditional PID control, SMC control and GRTSMC control proposed in this paper, the robust performance be found with GRTSMC control when motor parameters and external load changed, the efficiency and advantages of this robust control strategy was successfully demonstrated.

scholarly journals Design of Composite Disturbance Observer and Continuous Terminal Sliding Mode Control for Piezoelectric Nanopositioning Stage

Electronics ◽  
2021 ◽  
Vol 10 (18) ◽  
pp. 2242
Author(s):  
Pengyu Qiao ◽  
Jun Yang ◽  
Chen Dai ◽  
Xi Xiao
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Accurate Estimation ◽  
Terminal Sliding Mode Control ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Composite Control ◽  
Mode Control

The nonlinearities of piezoelectric actuators and external disturbances of the piezoelectric nanopositioning stage impose great, undesirable influences on the positioning accuracy of nanopositioning stage systems. This paper considers nonlinearities and external disturbances as a lumped disturbance and designs a composite control strategy for the piezoelectric nanopositioning stage to realize ultra-high precision motion control. The proposed strategy contains a composite disturbance observer and a continuous terminal sliding mode controller. The composite disturbance observer can estimate both periodic and aperiodic disturbances so that the composite control strategy can deal with the disturbances with high accuracy. Meanwhile, the continuous terminal sliding mode control is employed to eliminate the chattering phenomenon and speed up the convergence rate. The simulation and experiment results show that the composite control strategy achieves accurate estimation of different forms of disturbances and excellent tracking performance.

A novel non-singular terminal sliding mode control combined with integral sliding surface for perturbed quadrotor

2021 ◽  
pp. 095965182110647
Author(s):  
Moussa Labbadi ◽  
Mohamed Djemai ◽  
Sahbi Boubaker
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Control Technique ◽  
Terminal Sliding Mode Control ◽  
Sliding Surface ◽  
Proportional Integral Derivative ◽  
Terminal Sliding Mode ◽  
Proportional Integral ◽  
Mode Control

In this article, a new dynamic non-singular terminal sliding mode control technique for a quadrotor system subjected to external disturbances is evaluated. The offered control approach is based on non-singular terminal sliding mode controller combined with proportional–integral–derivative sliding surface to improve the performance. The proposed controller is formulated using the Lyapunov theory which ensured the existence of the sliding mode surfaces in finite time. Furthermore, the chattering problem, caused by the switching position and attitude laws, has been reduced using the proposed controller. Moreover, a high-precision performance trajectory tracking can be obtained. The problem of the disturbances is addressed using the suggested controller. Simulation results show the feasibility and efficiency of the non-singular terminal sliding mode control-proportional–integral–derivative proposed approach.

Self-tuning fuzzy nonsingular proportional-integral-derivative type fast terminal sliding mode control for robotic manipulator in the presence of backlash hysteresis

2021 ◽  
pp. 014233122110133
Author(s):  
Zeeshan Anjum ◽  
Hui Zhou ◽  
Yu Guo
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Proportional Integral Derivative ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Proportional Integral ◽  
Mode Control ◽  
Fast Terminal Sliding Mode ◽  
Self Tuning

The external disturbances and backlash hysteresis kind of nonlinearity present in the manipulator system can greatly affect the tracking performance of the system. In order to undo the effects of these external disturbances and backlash hysteresis, a robust controller is established based on the integration of self-tuning fuzzy nonsingular proportional-integral-derivative (PID) type fast terminal sliding mode control and time delay estimation (TDE). In this paper, TDE plays the part of estimating the unknown dynamics of the robotic manipulator and nonsingular PID type fast terminal sliding mode control in which the gains of PID are tuned using fuzzy logic system to get multiple beneficial characteristics, such as lower steady-state error, finite-time convergence and little chattering. In addition, the derivative of unknown dynamics that is considered to be bounded is dealt by utilizing the adaptive technique. Moreover, Lyapunov theorem is used to study the overall stability of the system. Finally, a comparative study in terms of trajectory tracking has been carried out between the proposed controller and other existing advanced control approaches using PUMA560 robot in order to verify the effectiveness of the proposed controller in the presence of external disturbances and bacsklash hysteresis.

scholarly journals Fault-Tolerant Control for N-Link Robot Manipulator via Adaptive Nonsingular Terminal Sliding Mode Control Technology

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Nannan Shi ◽  
Fanghui Luo ◽  
Zhikuan Kang ◽  
Lihui Wang ◽  
Zhuo Zhao ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Tracking Error ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode ◽  
The Stability

An adaptive nonsingular terminal sliding mode control (ANTSMC) scheme for the n-link robot manipulator is presented in this study, which can achieve faster convergence and higher precision tracking compared with the linear hyperplane-based sliding mode control. Novel adaptive updating laws based on the actual tracking error are employed to online adjust the upper bound of uncertainty, which comprehensively consider both the tracking performance and chattering eliminating problem. The stability analysis of the proposed ANTSMC is verified using the Lyapunov method with the existence of the parameter uncertainty and the actuator faults. Numerical simulation studies the comparison of performance between ANTSMC and the conventional nonsingular terminal sliding mode control (NTSMC) scheme to validate the advantages of the proposed control algorithm.

scholarly journals Robust Controller for Kaplan Hydroturbine Governor System Based on Fast Terminal Sliding Mode Control (FTSMC)

2020 ◽  
Vol 5 (8) ◽  
pp. 922-929
Author(s):  
Aime Herve Samba ◽  
Aurelien Yeremou Tamtsia ◽  
Leandre Nneme Nneme ◽  
Korassaï Korassaï
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Governing System ◽  
Sliding Mode Controllers ◽  
Fast Terminal Sliding Mode ◽  
Dynamic Performances ◽  
The Stability

In this paper a fast terminal sliding mode control (FTSMC) is used for speed control of Kaplan hydroturbine governing system in the presence of load torque disturbance. The stability of the proposed controller is proved with the lyapunov function method.The results indicate that the proposed terminal sliding mode controllers not only have a faster response and allows to carry out high performances as well in precision   as in finite time of convergence. Moreover, the comparisons of the dynamic performances between the proposed fast terminal sliding mode controllers (FTSMC) and non-singular fast terminal sliding mode controllers (NSTSMC) , are discussed at the end of this paper, where the effectiveness and robustness superiority of the fast terminal sliding mode controller proposed also is been verified.

scholarly journals Synchronization Full-Order Terminal Sliding Mode Control for an Uncertain 3-DOF Planar Parallel Robotic Manipulator

2019 ◽  
Vol 9 (9) ◽  
pp. 1756 ◽  
Author(s):  
Doan ◽  
Le ◽  
Vo
Keyword(s):  
Sliding Mode Control ◽  
High Performance ◽  
Sliding Mode ◽  
Robotic Manipulator ◽  
Continuous Control ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Uncertain Dynamics ◽  
The Stability

The control of a parallel robotic manipulator with uncertain dynamics is a noteworthy challenge due to the complicated dynamic model; multi-closed-loop chains; and singularities. This study develops a Synchronization Full-Order Terminal Sliding Mode Control (S-FOTSMC) for a 3-DOF planar parallel robotic manipulator with uncertain dynamics. First, to achieve faster convergence of position error and synchronization error variables with minimum values at the same time, a Synchronization Full-Order Terminal Sliding Mode Surface (S-FOTSMS) is constructed in the cross-coupling error’s state space. Next; an integral of the switching control term is applied; that means, a continuous control term is extended for rejecting the effects of chattering. Finally, an SFOTSMC is designed to guarantee that sliding mode motion will occur. Consequently, the stability and the robustness of the proposed method are secured with high-performance irrespective of the influences of uncertain terms in the robot system. The simulation performances show the effectiveness of our proposed system for position tracking control of a 3-DOF planar parallel robotic manipulator.

Adaptive Nonsingular Terminal Sliding Mode Control of 6-DOF Manipulator with Modified Switch Function

2016 ◽  
Vol 20 (2) ◽  
pp. 294-301 ◽  
Author(s):  
Cong Cheng ◽  
◽  
Ru Lai ◽  
Zhen Chen ◽  
Xiangdong Liu
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
Terminal Sliding Mode Control ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode ◽  
Modeling Errors

This paper presents an adaptive nonsingular terminal sliding mode control algorithm with a modified switch function for a 6-DOF manipulator with unknown modeling errors and external disturbances. The finitetime convergence of the controller is analyzed using Lyapunov stability theory. The algorithm avoids singular problems and estimates the upper bound of system uncertainties. A modified switch function is used to achieve precise tracking and reduce chattering in control torque. Finally, the effectiveness of the control method is verified through simulation.

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