Event-triggered adaptive fault-tolerant attitude synchronization and tracking control of multiple rigid bodies with finite-time convergence

2021 ◽  
pp. 107754632098773
Author(s):  
Amin Mihankhah ◽  
Ali Doustmohammadi
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Data Communication ◽  
Rigid Bodies ◽  
Actuator Faults ◽  
Control Effort ◽  
Attitude Synchronization ◽  
Event Triggered

This study investigates finite-time attitude synchronization and tracking control of multiple rigid bodies under event-triggered control strategy in presence of actuator faults and an external disturbance. The event-triggered implementation technique aims to reduce resource utilization in regard to control effort and communication burden. To achieve this aim, the adaptive sliding mode structure is used, and a novel triggering condition is proposed. In presence of unknown actuator faults and external disturbance, it is shown that the multiple rigid bodies track a time-varying attitude of a virtual leader synchronously in finite time under limited data communication. Moreover, a lower bound on the inter-event times has been derived to ensure that the Zeno behavior is avoided. The effectiveness of the proposed method is validated by numerical simulation along with comparison with another relevant research.

Adaptive neural-based finite-time attitude synchronization and tracking control of multiple rigid bodies under actuator faults and saturation

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Amin Mihankhah ◽  
Ali Doustmohammadi
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Estimation Error ◽  
External Disturbance ◽  
Upper Bounds ◽  
Rigid Bodies ◽  
Sliding Surface ◽  
Actuator Faults ◽  
Content Type ◽  
Attitude Synchronization

Purpose The purpose of this paper, is to solve the problem of finite-time fault-tolerant attitude synchronization and tracking control of multiple rigid bodies in presence of model uncertainty, external disturbances, actuator faults and saturation. It is assumed that the rigid bodies in the formation may encounter loss of effectiveness and/or bias actuator faults. Design/methodology/approach For the purpose, adaptive terminal sliding mode control and neural network structure are used, and a new sliding surface is proposed to guarantee known finite-time convergence not only at the reaching phase but also on the sliding surface. The sliding surface is then modified using a proposed auxiliary system to maintain stability under actuator saturation. Findings Assuming that the communication topology between the rigid bodies is governed by an undirected connected graph and the upper bounds on the actuators’ faults, estimation error of model uncertainty and external disturbance are unknown, not only the attitudes of the rigid bodies in the formation are synchronized but also they track the time-varying attitude of a virtual leader. Using Lyapunov stability approach, finite-time stability of the proposed control algorithms demonstrated on the sliding phase as well as the reaching phase. The effectiveness of the proposed algorithm is also validated by simulation. Originality/value The proposed controller has the advantage that the need for any fault detection and diagnosis mechanism and the upper bounds information on estimation error and external disturbance is eliminated.

scholarly journals Finite-Time Cooperative Tracking Control Algorithm for Multiple Surface Vessels

2014 ◽  
Vol 2014 ◽  
pp. 1-10
Author(s):  
Jianfang Jiao ◽  
Mingyu Fu
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
External Disturbance ◽  
Lyapunov Stability Theory ◽  
Control Input ◽  
Terminal Sliding Mode ◽  
Surface Vessels ◽  
Cooperative Tracking

We investigate the problem of finite-time cooperative tracking for multiple surface vessels in the presence of external disturbances. A robust finite-time cooperative tracking algorithm based on terminal sliding-mode control is proposed for multiple surface vessels. In light of the leader-follower strategy, a virtual leader vessel is defined to provide reference point for other surface vessels to form the desired formation. Specifically, the proposed algorithm only requires the communication topology among the surface vessels to be a directed graph with a directed spanning tree. The robustness is achieved by compensating the upper bound of external disturbance in the control input, and the global finite-time stability is proved by Lyapunov stability theory. Finally, the effectiveness of the proposed finite-time cooperative tracking control algorithm is demonstrated by simulation results.

scholarly journals Finite-Time Tracking Control for a Class of MIMO Nonlinear Systems with Unknown Asymmetric Saturations

2017 ◽  
Vol 2017 ◽  
pp. 1-10
Author(s):  
Fu Mingyu ◽  
Xu Yujie
Keyword(s):  
Nonlinear Systems ◽  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Tracking Error ◽  
Input Saturation ◽  
Approximation Error ◽  
Time Interval ◽  
Mimo Nonlinear Systems

This paper addresses the problem of finite-time tracking control for multiple-input and multiple-output (MIMO) nonlinear systems with asymmetric saturations. A systematic approach is proposed to eliminate the effects of unmeasured external disturbances and unknown asymmetric saturations. In the proposed control strategy, a terminal sliding mode disturbance observer is provided to estimate the augmented disturbance (which contains the unknown asymmetric input saturation and external disturbance). The approximation error of the augmented disturbance can converge to zero in a fixed finite-time interval. Furthermore, a novel finite-time tracking control algorithm is developed to guarantee fast convergence of the tracking error. Compared with the existing results on finite-time tracking control, the chattering problem and the input saturation problem can be solved in a unified framework. Several simulations are given to demonstrate the effectiveness of the proposed approach.

Finite-time tracking control for extended nonholonomic chained-form systems with parametric uncertainty and external disturbance

2016 ◽  
Vol 24 (1) ◽  
pp. 100-109 ◽  
Author(s):  
Hua Chen ◽  
Binwu Zhang ◽  
Tiebiao Zhao ◽  
Tingting Wang ◽  
Kui Li
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Visual Servoing ◽  
Sliding Mode ◽  
External Disturbance ◽  
Parametric Uncertainty ◽  
Stability Control ◽  
Time Stability ◽  
Trajectory Tracking Control ◽  
Finite Time Stability

In this paper, the finite-time tracking control problem is discussed for extended nonholonomic chained-form systems with parametric uncertainty, unmodeled nonlinear dynamics and external uncertain time-varying disturbances. Two decoupled subsystems are considered, for which an anti-interference controller is proposed by combining finite-time stability control theory and chattering-free sliding-mode design strategy in the presence of the uncertainty, nonlinearity and perturbation. Moreover, for the corresponding closed-loop systems under the given control law, rigorous finite-time stability analysis is presented at the origin equilibrium point. Finally, the main conclusions are applied to the trajectory tracking control of dynamic nonholonomic mobile robots with visual servoing feedback, and the simulation results show the effectiveness of our control design approach.

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