Fractional order nonsingular fast terminal sliding mode control technique for 6-DOF robotic manipulator

2018 ◽  
Author(s):  
Chun Yin ◽  
Jianhong Xue ◽  
Yuhua Cheng ◽  
Bo Zhang ◽  
Jing Zhou
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Robotic Manipulator ◽  
Control Technique ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

Design of a non-singular fast terminal sliding mode control for second-order nonlinear systems with compound disturbance

2021 ◽  
pp. 095440622110329
Author(s):  
Mohammad Reza Salehi Kolahi ◽  
Mohammad Reza Gharib ◽  
Ali Heydari
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Path Tracking ◽  
Second Order ◽  
Control Technique ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode ◽  
Compound Disturbance

This paper investigates a new disturbance observer based non-singular fast terminal sliding mode control technique for the path tracking and stabilization of non-linear second-order systems with compound disturbance. The compound disturbance is comprised of both parametric and non-parametric uncertainties. While warranting fast convergence rate and robustness, it also dominates the singularity and complex-value number issues associated with conventional terminal sliding mode control. Furthermore, due to the estimation properties of the observer, knowledge about the bounds of the uncertainties is not required. The simulation results of two case studies, the velocity and path tracking of an autonomous underwater vehicle and the stabilization of a chaotic Φ6-Duffing oscillator, validate the efficacy of the proposed method.

Second-order fast terminal sliding mode control design based on LMI for a class of non-linear uncertain systems and its application to chaotic systems

2016 ◽  
Vol 23 (18) ◽  
pp. 2912-2925 ◽  
Author(s):  
Saleh Mobayen ◽  
Dumitru Baleanu ◽  
Fairouz Tchier
Keyword(s):  
Sliding Mode Control ◽  
Uncertain Systems ◽  
Sliding Mode ◽  
Second Order ◽  
Control Technique ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode ◽  
Non Linear

In this paper, an linear matrix inequalities (LMI)-based second-order fast terminal sliding mode control technique is investigated for the tracking problem of a class of non-linear uncertain systems with matched and mismatched uncertainties. Using the offered approach, a robust chattering-free control scheme is presented to prove the presence of the switching around the sliding surface in the finite time. Based on the Lyapunov stability theorem, the LMI conditions are presented to make the state errors into predictable bounds and the parameters of the controller are obtained in the form of LMI. The control structure is independent of the order of the model. Then, the proposed method is fairly simple and there is no difficulty in the use of this scheme. Simulations on the well-known Genesio's chaotic system and Chua's circuit system are employed to emphasize the success of the suggested scheme. The simulation results on the Genesio's system demonstrate that the offered technique leads to the superior improvement on the control effort and tracking performance.

scholarly journals Fractional-Order Fast Terminal Sliding Mode Control for a Class of Dynamical Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Guoliang Zhao
Keyword(s):  
Dynamical Systems ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Finite Time Stability ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

This paper introduces a novel fractional fast terminal sliding mode control strategy for a class of dynamical systems with uncertainty. In this strategy, a fractional-order sliding surface is proposed, the corresponding control law is derived based on Lyapunov stability theory to guarantee the sliding condition, and the finite time stability of the closeloop system is also ensured. Further, to achieve the equivalence between convergence rate and singularity avoidance, a fractional-order nonsingular fast terminal sliding mode controller is studied and the stability is presented. Finally, numerical simulation results are presented to illustrate the effectiveness of the proposed method.

scholarly journals Stabilization of a Class of Nonlinear Underactuated Robotic Systems through Nonsingular Fast Terminal Sliding Mode Control

2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Yaobin Song ◽  
Hui Li ◽  
Xiaoling Shi
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Direct Method ◽  
Robotic Systems ◽  
Control Technique ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

To facilitate the stabilization of nonlinear underactuated robotic systems under perturbation, a novel nonsingular fast terminal sliding mode control method is proposed. Based on the system transformation into an integrator chain, the combination of twisting-like algorithm and a nonsingular fast terminal sliding mode control technique is employed to achieve the stabilization of the studied systems, which can drive the robot states (joint positions and velocities) to the desired region and then maintain the system at the equilibrium point in finite time. The robustness of the proposed method is validated by the Lyapunov direct method. Finally, numerical simulation results further demonstrate that the proposed method has better performance on the convergent speed of the system state (robot joint positions and velocities) than state-of-the-art methods, especially for the underactuated joints.

Sign in / Sign up

Export Citation Format

Share Document