scholarly journals Collaborative Control of Multimotor Systems for Fixed-Time Optimisation Based on Virtual Main-Axis Speed Compensation Structure

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Changfan Zhang ◽  
Mingjie Xiao ◽  
Jing He ◽  
Zhitian Liu ◽  
Xingxing Yang ◽  
...  
Keyword(s):  
High Speed ◽  
Sliding Mode ◽  
Fixed Time ◽  
Main Axis ◽  
Terminal Sliding Mode ◽  
Collaborative Control ◽  
Initial Stage ◽  
Motor Parameter ◽  
New Type ◽  
The Given

In response to the high-speed and high-precision collaborative control requirements of the multimotor system for filling, a new type of virtual master-axis control structure is proposed and a multimotor fixed-time optimized collaborative control algorithm is designed. Firstly, coupling relationship between virtual and slave motors is effectively established by designing a velocity compensation module for the virtual motor. Secondly, the sliding mode observer (SMO) is used to reconstruct the composite disturbance composed of motor parameter perturbation and load disturbance. Finally, the variable gain terminal sliding mode controller (SMC) is designed to ensure that each slave motor can track the given value within a fixed time. The fast convergence of the system can be proved by the fixed-time convergence theorem and Lyapunov’s stability theorem. The simulation results show that, compared with the traditional virtual main-axis control strategy, the proposed method is more effective for the tracking control of each slave motor in the initial stage.

scholarly journals Formation Tracking Control for Multi-Agent Networks with Fixed Time Convergence via Terminal Sliding Mode Control Approach

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1416
Author(s):  
Guang-Hui Xu ◽  
Meng Li ◽  
Jie Chen ◽  
Qiang Lai ◽  
Xiao-Wen Zhao
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Fixed Time ◽  
Stability Theorem ◽  
Control Task ◽  
Terminal Sliding Mode ◽  
Formation Tracking ◽  
Multi Agent ◽  
Error System ◽  
Agent Networks

This paper investigates formation tracking control for multi-agent networks with fixed time convergence. The control task is that the follower agents are required to form a prescribed formation within a fixed time and the geometric center of the formation moves in sync with the leader. First, an error system is designed by using the information of adjacent agents and a new control protocol is designed based on the error system and terminal sliding mode control (TSMC). Then, via employing the Lyapunov stability theorem and the fixed time stability theorem, the control task is proved to be possible within a fixed time and the convergence time can be calculated by parameters. Finally, numerical results illustrate the feasibility of the proposed control protocol.

scholarly journals Neuro-adaptive Fixed-time Non-singular Fast Terminal Sliding Mode Control Design for a Class of Under-actuated Nonlinear Systems

2021 ◽  
Author(s):  
SAFEER ULLAH ◽  
Qudrat Khan ◽  
Adeel Mehmood
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Design ◽  
Fixed Time ◽  
Control Synthesis ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Regular Form ◽  
Fast Terminal Sliding Mode

Abstract This paper presents a fixed-time control design for a class of uncertain under-actuated nonlinear systems (UNS) using a non-singular fast terminal sliding mode control (TSMC) with a radial basis function (RBF) based estimator to achieve the fast convergence and robustness against the uncertain disturbances. The generalized mathematical model of the considered class is first reduced into an equivalent regular form, which is more convenient for any control synthesis design. A fast TSMC is designed for the transformed regular form to improve the control performance and annihilate the associated singularity problem of the conventional TSMC scheme. The steering of sliding manifold and system states in fixed-time is ensured through the Lyapunov stability theory. The RBF-based neural networks are used to adaptively estimate the nonlinear drift functions, which are feedbacked to the control input. The theoretical design, analysis and simulations of cart-pendulum and quadcopter systems demonstrate the feasibility and benefits of the regular form transformation and the designed control design. Comparing the proposed control synthesis with the standard literature presents the attractive nature of the proposed method for such a class.

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