Formation Tracking Control Algorithm for Multi-agent Combined with Fast Terminal Sliding Mode Control And Disturbance Observer

2021 ◽  
Author(s):  
Daewon Park ◽  
Hansol Jeong ◽  
Nguyen Ngoc Phi ◽  
Sung Kyung Hong
Keyword(s):  
Sliding Mode Control ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Formation Tracking ◽  
Fast Terminal Sliding Mode ◽  
Multi Agent

scholarly journals Nonsingular Fast Terminal Sliding Mode Tracking Control for a Class of Uncertain Nonlinear Systems

2019 ◽  
Vol 2019 ◽  
pp. 1-17
Author(s):  
Siyi Chen ◽  
Wei Liu ◽  
Huixian Huang
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Uncertain Nonlinear Systems ◽  
Terminal Sliding Mode ◽  
Rbf Network ◽  
Fast Terminal Sliding Mode

Aiming at the tracking control problem of a class of uncertain nonlinear systems, a nonsingular fast terminal sliding mode control scheme combining RBF network and disturbance observer is proposed. The sliding mode controller is designed by using nonsingular fast terminal sliding mode and second power reaching law to solve the problem of singularity and slow convergence in traditional terminal sliding mode control. By using the universal approximation of RBF network, the unknown nonlinear function of the system is approximated, and the disturbance observer is designed by using the hyperbolic tangent nonlinear tracking differentiator (TANH-NTD) to estimate the interference of the system and enhance the robustness of the system. The stability of the system is proved by the Lyapunov principle. The numerical simulation results show that the method can shorten the system arrival time, improve the tracking accuracy, and suppress the chattering phenomenon.

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