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.

Adaptive smooth second-order sliding mode control method with application to missile guidance

2015 ◽  
Vol 39 (6) ◽  
pp. 848-860 ◽  
Author(s):  
Zheng Wang
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Second Order ◽  
Control Law ◽  
Smooth Control ◽  
Mode Control ◽  
Control Command ◽  
Second Order Sliding Mode

This paper proposes an adaptive smooth second-order sliding mode control law for a class of uncertain non-linear systems. The key point of this control law is ensuring a smooth control signal considering parametric uncertainty and disturbances with unknown bounds. The proposed control method is obtained by introducing a continuous function under the integral and using adaptive gains. The switching function and its derivative are forced to zero in finite time. This is achieved using a smooth control command and without the prior knowledge of upper bound parameters of uncertainties. The finite-time stability is proved based on a quadratic Lyapunov approach and the reaching time is estimated. This structure is used to create a homing guidance law and the efficiency is evaluated via simulations.

scholarly journals Finite-Time Synchronization for Uncertain Master-Slave Chaotic System via Adaptive Super Twisting Algorithm

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
P. Siricharuanun ◽  
C. Pukdeboon
Keyword(s):  
Sliding Mode Control ◽  
Chaotic System ◽  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Second Order ◽  
Control Technique ◽  
Mode Control ◽  
Twisting Algorithm ◽  
Second Order Sliding Mode

A second-order sliding mode control for chaotic synchronization with bounded disturbance is studied. A robust finite-time controller is designed based on super twisting algorithm which is a popular second-order sliding mode control technique. The proposed controller is designed by combining an adaptive law with super twisting algorithm. New results based on adaptive super twisting control for the synchronization of identical Qi three-dimensional four-wing chaotic system are presented. The finite-time convergence of synchronization is ensured by using Lyapunov stability theory. The simulations results show the usefulness of the developed control method.

scholarly journals Second-Order Sliding Mode Formation Control of Multiple Robots by Extreme Learning Machine

Symmetry ◽  
2019 ◽  
Vol 11 (12) ◽  
pp. 1444 ◽  
Author(s):  
Qian ◽  
Zhang ◽  
Wang ◽  
Wu
Keyword(s):  
Sliding Mode Control ◽  
Extreme Learning Machine ◽  
Control Method ◽  
Sliding Mode ◽  
Second Order ◽  
Mode Control ◽  
Learning Machine ◽  
Second Order Sliding Mode ◽  
Mode Formation ◽  
Formation Design

This paper addresses a second-order sliding mode control method for the formation problem of multirobot systems. The formation patterns are usually symmetrical. This sliding mode control is based on the super-twisting law. In many real-world applications, the robots suffer from a great diversity of uncertainties and disturbances that greatly challenge super-twisting sliding mode formation maneuvers. In particular, such a challenge has adverse effects on the formation performance when the uncertainties and disturbances have an unknown bound. This paper focuses on this issue and utilizes the technique of an extreme learning machine to meet this challenge. Within the leader–follower framework, this paper investigates the integration of the super-twisting sliding mode control method and the extreme learning machine. The output weights of this extreme learning machine are adaptively adjusted so that this integrated formation design has guaranteed closed-loop stability in the sense of Lyaponov. In the end, some simulations are implemented via a multirobot platform, illustrating the superiority and effectiveness of the integrated formation design in spite of uncertainties and disturbances.

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.

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