scholarly journals Full-Order Sliding Mode Bounded Control for Euler-Lagrange Systems with External Disturbances

2022 ◽  
Author(s):  
Yong Guo ◽  
Fuqiang Di ◽  
Xiaodong Lin ◽  
Wenlin Wang ◽  
Changqing Wang
Keyword(s):  
Upper Bound ◽  
Finite Time ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Input Constraints ◽  
Bounded Control ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Finite Time Stability ◽  
Tangent Function

Abstract This paper researches two finite-time bounded control methods for Euler-Lagrange systems exposed to external disturbances. A novel full-order terminal sliding mode surface that is convenient for solving the input constraints is designed based on the characters of the hyperbolic tangent function. By using the designed full-order terminal sliding mode surface, the finite-time controller with input constraints can deal with external disturbances with the exactly known upper bound. Further, an adaptive finite-time bounded controller is designed to deal with the external disturbances with the upper bound that cannot be accurately known. Finally, the finite-time stability of the system is proved by using Lyapunov theory and numerical simulations.

Finite-time attitude tracking control of air bearing table for spacecraft rendezvous and docking

2016 ◽  
Vol 232 (1) ◽  
pp. 96-110 ◽  
Author(s):  
Cheng Huang ◽  
Yan Wang ◽  
Xing-lin Chen
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Finite Time Stability ◽  
Nonsingular Terminal Sliding Mode ◽  
Attitude Tracking ◽  
Attitude Tracking Control ◽  
Rendezvous And Docking

This paper studies the problem of attitude tracking control for spacecraft rendezvous and docking based on a physical ground simulation system. Two finite-time controllers based on quaternion are proposed by using a novel fast nonsingular terminal sliding mode surface associated with the adaptive control, the novel fast nonsingular terminal sliding mode surface not only contains the advantages of the fast nonsingular terminal sliding mode surface, but also can eliminate unwinding caused by the quaternion. The first controller, which is continuous and chattering-free, can compensate unknown constant external disturbances, while the second controller can both compensate parametric uncertainties and varying external disturbances with unknown bounds without chattering. Lyapunov theoretical analysis and simulation results show that the two controllers can make the closed-loop system errors converge to zero in finite time and guarantee the finite-time stability of the system.

scholarly journals Nonsingular Terminal Sliding Mode Based Finite-Time Dynamic Surface Control for a Quadrotor UAV

Algorithms ◽  
2021 ◽  
Vol 14 (11) ◽  
pp. 315
Author(s):  
Yuxiao Niu ◽  
Hanyu Ban ◽  
Haichao Zhang ◽  
Wenquan Gong ◽  
Fang Yu
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Time Stability ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Dynamic Surface ◽  
Finite Time Stability ◽  
Quadrotor Uav ◽  
Nonsingular Terminal Sliding Mode

In this work, a tracking control strategy is developed to achieve finite-time stability of quadrotor Unmanned Aerial Vehicles (UAVs) subject to external disturbances and parameter uncertainties. Firstly, a finite-time extended state observer (ESO) is proposed based on the nonsingular terminal sliding mode variable to estimate external disturbances to the position subsystem. Then, utilizing the information provided by the ESO and the nonsingular terminal sliding mode control (NTSMC) technique, a dynamic surface controller is proposed to achieve finite-time stability of the position subsystem. By conducting a similar step for the attitude subsystem, a finite-time ESO-based dynamic surface controller is proposed to carry out attitude tracking control of the quadrotor UAV. Finally, the performance of the control algorithm is demonstrated via a numerical simulation.

A finite-time sliding mode control for hypersonic vehicle

2019 ◽  
Vol 41 (15) ◽  
pp. 4339-4350 ◽  
Author(s):  
Qingwen Ma ◽  
Jianguo Guo ◽  
Jun Zhou
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Hypersonic Vehicle ◽  
Lyapunov Theory ◽  
Terminal Sliding Mode ◽  
Finite Time Stability ◽  
Mode Control ◽  
Time Control ◽  
Longitudinal Dynamic

In this paper, a finite-time control strategy based on back-stepping method combining with a terminal sliding mode control (TSMC) and a nonlinear disturbance observer (NDO) is proposed for the longitudinal dynamic model of hypersonic vehicle (HV). Firstly, the model of HV is transformed into two strict feedback subsystem: the mismatched subsystem of altitude and the matched subsystem of velocity. Then, the TSMC and back-stepping method is incorporated to cope with the unmatched issue in the HV altitude subsystem. In addition, a NDO based on a finite-time-convergent differentiator (FD) is proposed to estimate the lumped disturbances. The finite-time stability condition of the system is established via the Lyapunov theory. Finally, the robustness and effectiveness of the method are verified by simulations.

Robust impact angle constraints guidance law with autopilot lag and acceleration saturation consideration

2018 ◽  
Vol 41 (1) ◽  
pp. 182-192 ◽  
Author(s):  
Junhong Song ◽  
Shenmin Song
Keyword(s):  
Upper Bound ◽  
Finite Time ◽  
Sliding Mode ◽  
Three Dimensional ◽  
Impact Angle ◽  
Guidance System ◽  
Control Technique ◽  
Backstepping Method ◽  
Terminal Sliding Mode ◽  
Guidance Law

In this paper, for the three-dimensional terminal guidance problem of a missile intercepting a manoeuvring target, a robust continuous guidance law with impact angle constraints in the presence of both an acceleration saturation constraint and a second-order-lag autopilot is developed. First, based on non-singular fast terminal sliding mode and adaptive control, a step-by-step backstepping method is used to design the guidance law. In the process of guidance law design, with the use of a finite-time control technique, virtual control laws are developed, a tracking differentiator is used to eliminate the ‘explosion of complexity’ problem inherent in the traditional backstepping method, and an additional system is constructed to deal with the acceleration saturation problem; its states are used for guidance law design and stability analysis. Moreover, the target acceleration is considered bounded disturbance, but the upper bound is not required to be known in advance, whereas the upper bound is estimated online by a designed adaptive law. Next, finite-time stability of the guidance system is strictly proved by using a Lyapunov method. Finally, numerical simulations are presented to demonstrate the excellent guidance performances of the proposed guidance law in terms of accuracy and efficiency.

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.

scholarly journals Terminal Sliding Mode Control for Attitude Tracking of Spacecraft Based on Rotation Matrix

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Yong Guo ◽  
Shen-Min Song ◽  
Xue-Hui Li
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Rotation Matrix ◽  
Sliding Mode Controller ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Attitude Tracking ◽  
Sliding Manifold ◽  
Attitude Tracking Control

Two finite-time controllers without unwinding for the attitude tracking control of the spacecraft are investigated based on the rotation matrix, in which a novel modified nonsingular fast terminal sliding manifold is developed to keep tr(R~)≠-1. The first terminal sliding mode controller can compensate external disturbances with known bounds, while the second one can compensate external disturbances with unknown bounds by using an adaptive control method. Since the first terminal sliding mode controller is continuous, it is able to avoid chattering phenomenon. Theoretical analysis shows that both the two controllers can make spacecraft follow a time-varying reference attitude signal in finite time. Numerical simulations also demonstrate that the proposed control schemes are effective.

Finite-time fault-tolerant attitude tracking control for spacecraft without unwinding

2018 ◽  
Vol 233 (6) ◽  
pp. 2119-2130 ◽  
Author(s):  
Bing Huang ◽  
Ai-jun Li ◽  
Yong Guo ◽  
Chang-qing Wang ◽  
Jin-hua Guo
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Attitude Tracking ◽  
Control Schemes ◽  
Fast Terminal Sliding Mode ◽  
Attitude Tracking Control

This paper investigates the finite-time attitude tracking control problem for spacecraft in the presence of external disturbances and actuator faults. Two anti-unwinding attitude tracking control schemes have been proposed based on the rotation matrix and sliding mode control technology. Utilizing a fast terminal sliding mode surface, the first controller can fulfill the finite-time attitude tracking control task with disturbance rejection ability. The second controller can improve the system reliability when the actuator fault occurs. Rigorous mathematical analysis and proof concludes that the proposed controllers can make a spacecraft track the desired attitude command in finite time. Numerical simulation results are presented to demonstrate the effectiveness of the proposed controllers.

Robust spacecraft attitude tracking control with integral terminal sliding mode surface considering input saturation

2018 ◽  
Vol 41 (2) ◽  
pp. 405-416 ◽  
Author(s):  
Haitao Chen ◽  
Shenmin Song ◽  
Xuehui Li
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
External Disturbance ◽  
Input Saturation ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Modeling Uncertainty ◽  
Finite Time Convergence ◽  
Attitude Tracking ◽  
Attitude Tracking Control

This paper studies the finite time spacecraft attitude tracking control problem, while considering modeling uncertainty, external disturbances and control input saturation. A novel integral terminal sliding mode surface (ITSMS) is designed by combining the fast terminal sliding mode surface (FTSMS) with a low pass filter to achieve a fast finite time convergence rate for the control system, without input singularity. An auxiliary signal is used to compensate for the effects of actuator saturation. The basic controller is first formulated based on the ITSMS, fast-TSM-type reaching law and auxiliary system, in the presence of an external disturbance and input saturation. Then, an adaptive control procedure is introduced, which simultaneously handles modeling uncertainty and external disturbance, thereby creating an adaptive attitude tracking controller. The proposed controller provides a fast finite time convergence rate for the control system, based on the newly designed ITSMS, while simultaneously compensating for modeling uncertainty, external disturbances and input saturation, without restricting the parameter selection process nor requiring repeated differentiation of nonlinear functions. Finally, digital simulation results are presented and demonstrate the effectiveness of the proposed controllers.

Partial Finite-Time Stabilization of Perturbed Nonlinear Systems Based on the Novel Concept of Nonsingular Terminal Sliding Mode Method

2019 ◽  
Vol 15 (2) ◽  
Author(s):  
Hamid Razmjooei ◽  
Mohammad Hossein Shafiei
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Nonlinear Dynamical System ◽  
The Novel ◽  
Time Stability ◽  
Terminal Sliding Mode ◽  
Finite Time Stability ◽  
Nonsingular Terminal Sliding Mode ◽  
Novel Concept

Abstract In this article, a new technique to design a robust controller to achieve finite-time partial stabilization for a class of nonlinear perturbed systems is proposed. Indeed the system is partially stabilized in a finite time, based on the novel concept of the nonsingular terminal sliding mode (TSM) control method. In the first step, the nonlinear dynamical system is divided into two subsystems based on their required stability properties of the system's states (where finite-time stability is only desired for the first subsystem). Then, using a partial diffeomorphism map to transform the first subsystem into the normal form, the control law is designed. Indeed, by introducing this new concept of the TSM method, robust finite-time stability of only a part of the system's state is guaranteed. Subsequently, simulation results demonstrate the effectiveness of the proposed method, and the results are compared with the existing methods.

Chattering-Free Finite-Time Stability of a Class of Fractional-Order Nonlinear Systems

2019 ◽  
Author(s):  
Bin Wang ◽  
Yangquan Chen ◽  
Ying Yang
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Finite Time ◽  
Sliding Mode ◽  
Time Stability ◽  
External Disturbances ◽  
Finite Time Stability ◽  
Mode Control ◽  
Chattering Free

Abstract This paper studies the chattering-free finite-time control for a class of fractional-order nonlinear systems. First, a class of fractional-order nonlinear systems with external disturbances is presented. Second, a new finite-time terminal sliding mode control method is proposed for the stability control of a class of fractional-order nonlinear systems by combining the finite-time stability theory and sliding mode control scheme. Third, by designing a controller with a differential form and introducing the arc tangent function, the chattering phenomenon is well suppressed. Additionally, a controller is developed to resist external disturbances. Finally, numerical simulations are implemented to demonstrate the feasibility and validity of the proposed method.

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