scholarly journals A Comparative Study of Nonsingular Terminal Sliding Mode and Backstepping Schemes for the Coupled Two-Tank System

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-18
Author(s):  
Safa Choueikh ◽  
Marwen Kermani ◽  
Faouzi M’sahli
Keyword(s):  
Sliding Mode ◽  
Backstepping Control ◽  
Terminal Sliding Mode ◽  
Industrial Systems ◽  
Closed Loop Systems ◽  
Nonsingular Terminal Sliding Mode ◽  
Control Schemes ◽  
Tank System ◽  
The Stability ◽  
Tracking Trajectory

This paper presents an implementation of two radically different control schemes for a state-coupled two-tank liquid-level system. This is due to the purpose of transferring theoretical studies to industrial systems. The proposed schemes to be introduced and compared are the nonsingular terminal sliding mode control (NTSMC) and the backstepping control (BC). The performances of the developed methods are experimentally tested on a particular class of second-order nonlinear systems. The main purpose of the considered control schemes is to achieve a tracking trajectory for a coupled-tank system. It is proved that the designed robust controllers guarantee the stability of the corresponding closed loop systems. The obtained results are verified with the same setup test to ensure a suitable basis for their comparison. During the experiments, we resorted to adding an integrator to the backstepping control so that we improve the results, leading to the appearance of the integrator backstepping control (IBC). To focus on the adequacy and applicability of the suggested control layout, theoretical comparisons as well as experimental results are afforded and debated.

Finite-time sliding mode control for a 3-DOF fully actuated autonomous surface vehicle

2020 ◽  
pp. 014233122095751
Author(s):  
Ali Abooee ◽  
Mohammad Hayeri Mehrizi ◽  
Mohammad Mehdi Arefi ◽  
Shen Yin
Keyword(s):  
Robust Control ◽  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Autonomous Surface Vehicle ◽  
Nonsingular Terminal Sliding Mode ◽  
Control Schemes ◽  
Computer Based

This paper deals with the finite-time trajectory tracking problem for a typical 3-DOF (degree of freedom) autonomous surface vehicle (ASV) subjected to parametric uncertainties and environmental disturbances. Based on the nonsingular terminal sliding mode control (NTSMC) method, several separate classes of robust control inputs are designed to exactly steer all position states of the 3-DOF AVS to the desired paths during alterable finite times. By exploiting the Lyapunov stability theorem and using mathematical analysis, it is proven that all classes of designed robust control inputs are able to fulfill the mentioned finite-time tracking aim. Moreover, three applicable formulas (represented as several nonlinear inequalities) are extracted to determine the required total finite times for the suggested control schemes. Lastly, all designed control methods are numerically tested onto a benchmark 3-DOF AVS called CyberShip II. Provided computer-based numerical simulations (using MATLAB software) depicted the acceptable performance of the proposed control techniques.

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 A New Fast Nonsingular Terminal Sliding Mode Control for a Class of Second-Order Uncertain Systems

2016 ◽  
Vol 2016 ◽  
pp. 1-12 ◽  
Author(s):  
Linjie Xin ◽  
Qinglin Wang ◽  
Yuan Li
Keyword(s):  
Uncertain Systems ◽  
Sliding Mode ◽  
Second Order ◽  
Terminal Sliding Mode ◽  
Nonsingular Terminal Sliding Mode ◽  
Exponential Decline ◽  
Control Scheme ◽  
Fast Convergence Rate ◽  
The Stability

This paper considers the robust and adaptive nonsingular terminal sliding mode (NTSM) control for a class of second-order uncertain systems. First, a new fast NTSM was proposed which had global fast convergence rate in the sliding phase. Then, a new form of robust NTSM controller was designed to handle a wider class of second-order uncertain systems. Moreover, an exponential-decline switching gain was introduced for chattering suppression. After that, a double sliding surfaces control scheme was constructed to combine the NTSM control with the adaptive technique. The benefit is that a strict demonstration can be given for the stagnation problem in the stability analysis of NTSM. Finally, a case study for tracking control of a variable-length pendulum was performed to verify the proposed controllers.

scholarly journals Applied Mechatronics: On Mitigating Disturbance Effects in MEMS Resonators Using Robust Nonsingular Terminal Sliding Mode Controllers

Machines ◽  
2022 ◽  
Vol 10 (1) ◽  
pp. 34
Author(s):  
Aydin Azizi ◽  
Hamed Mobki ◽  
Hassen M. Ouakad ◽  
Omid Reza B. Speily
Keyword(s):  
Control Strategy ◽  
Sliding Mode ◽  
Response Speed ◽  
Lyapunov Theory ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mems Resonators ◽  
Nonsingular Terminal Sliding Mode ◽  
Sliding Mode Controllers ◽  
The Stability

This investigation attempts to study a possible controller in improving the dynamic stability of capacitive microstructures through mitigating the effects of disturbances and uncertainties in their resultant dynamic behavior. Consequently, a nonsingular terminal sliding mode control strategy is suggested in this regard. The main features of this particular control strategy are its high response speed and its non-reliance on powerful controller forces. The stability of the controller was investigated using Lyapunov theory. For this purpose, a suitable Lyapunov function was introduced to prove the stability of a controller, and the singularity conditions and methods to overcome these conditions are presented. The achieved results proved the high capability of the applied technique in stabilizing of the microstructure as well as mitigating the effects of disturbances and uncertainties.

Design of adaptive optimal robust control for two-flexible-link manipulators in the presence of matched uncertainties

2020 ◽  
pp. 107754632093202
Author(s):  
Hamid Reza Shafei ◽  
Mohsen Bahrami ◽  
Heidar Ali Talebi
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Flexible Link ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Control Approach ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode ◽  
Control Scheme ◽  
The Stability

This study uses a comprehensive control approach to deal with the trajectory tracking problem of a two-flexible-link manipulator subjected to model uncertainties. Because the control inputs of two-flexible-link manipulators are less than their state variables, the proposed controller should be able to tackle the stated challenge. Practically speaking, there is only a single control signal for each joint, which can be used to suppress link deflections and control joint trajectories. To achieve this objective, a novel optimal robust control scheme, with an updated gain under the adaptive law, has been developed in this work for the first time. In this regard, a nonsingular terminal sliding mode control approach is used as the robust controller and a control Lyapunov function is used as the optimal control law, to benefit from the advantages of both methods. To systematically deal with system uncertainties, an adaptive law is used to update the gain of nonsingular terminal sliding mode control. The advantage of this approach over the existing methods is that it not only can robustly and stably control an uncertain nonlinear system against external disturbances but also can optimally solve a quadratic cost function (e.g. minimization of control effort). The Lyapunov stability theory has been applied to verify the stability of the proposed approach. Moreover, to show the superiority of this method, the computer simulation results of the proposed method have been compared with those of an adaptive sliding mode control scheme. This comparison shows that the presented approach is capable of optimizing the control inputs while achieving the stability of the examined two-flexible-link manipulator in the presence of model uncertainties and external disturbances.

Distributed finite-time configuration containment control for satellite formation

2016 ◽  
Vol 231 (9) ◽  
pp. 1609-1620 ◽  
Author(s):  
Yanchao Sun ◽  
Guangfu Ma ◽  
Mengmeng Liu ◽  
Liangming Chen
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Containment Control ◽  
Terminal Sliding Mode ◽  
Relative Configuration ◽  
Satellite Formation ◽  
Closed Loop Systems ◽  
Nonsingular Terminal Sliding Mode ◽  
The Matrix ◽  
Dynamics Models

This paper investigates the distributed finite-time configuration containment control problem for satellite formation with multiple leader satellites under directed communication topology. We consider that only a portion of follower satellites can receive leaders’ information and unknown perturbations and model uncertainties exist in the dynamics models of satellites. By defining the relative configuration error functions and selecting suitable nonsingular terminal sliding mode variables, a fully distributed finite-time configuration containment control scheme is proposed using the matrix properties of graph theory. The Lyapunov method is used to demonstrate the finite-time convergence property of the closed-loop systems. Numerical examples and comparisons with other methods are provided to show the effectiveness and the performance of the proposed control strategy.

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