scholarly journals Model Predictive Super-Twisting Sliding Mode Control for an Autonomous Surface Vehicle

2019 ◽  
Vol 26 (3) ◽  
pp. 163-171
Author(s):  
Hossein Nejatbakhsh Esfahani ◽  
Rafal Szlapczynski
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Property A ◽  
Robust Model Predictive Control ◽  
State Response ◽  
Mode Control ◽  
Hybrid Controller ◽  
Autonomous Surface Vehicle ◽  
Robust Model ◽  
Chattering Attenuation

Abstract This paper presents a new robust Model Predictive Control (MPC) algorithm for trajectory tracking of an Autonomous Surface Vehicle (ASV) in presence of the time-varying external disturbances including winds, waves and ocean currents as well as dynamical uncertainties. For fulfilling the robustness property, a sliding mode control-based procedure for designing of MPC and a super-twisting term are adopted. The MPC algorithm has been known as an effective approach for the implementation simplicity and its fast dynamic response. The proposed hybrid controller has been implemented in MATLAB / Simulink environment. The results for the combined Model Predictive Super-Twisting Sliding Mode Control (MP-STSMC) algorithm have shown that it significantly outperforms conventional MPC algorithm in terms of the transient response, robustness and steady state response and presents an effective chattering attenuation in comparison with the Super-Twisting Sliding Mode Control (STSMC) algorithm.

Finite-time sliding mode control for a 3-DOF fully actuated autonomous surface vehicle

2020 ◽  
pp. 014233122095751
Author(s):  
Ali Abooee ◽  
Mohammad Hayeri Mehrizi ◽  
Mohammad Mehdi Arefi ◽  
Shen Yin
Keyword(s):  
Robust Control ◽  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Autonomous Surface Vehicle ◽  
Nonsingular Terminal Sliding Mode ◽  
Control Schemes ◽  
Computer Based

This paper deals with the finite-time trajectory tracking problem for a typical 3-DOF (degree of freedom) autonomous surface vehicle (ASV) subjected to parametric uncertainties and environmental disturbances. Based on the nonsingular terminal sliding mode control (NTSMC) method, several separate classes of robust control inputs are designed to exactly steer all position states of the 3-DOF AVS to the desired paths during alterable finite times. By exploiting the Lyapunov stability theorem and using mathematical analysis, it is proven that all classes of designed robust control inputs are able to fulfill the mentioned finite-time tracking aim. Moreover, three applicable formulas (represented as several nonlinear inequalities) are extracted to determine the required total finite times for the suggested control schemes. Lastly, all designed control methods are numerically tested onto a benchmark 3-DOF AVS called CyberShip II. Provided computer-based numerical simulations (using MATLAB software) depicted the acceptable performance of the proposed control techniques.

scholarly journals Robust Model-Free Nonsingular Terminal Sliding Mode Control for PMSM Demagnetization Fault

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 15737-15748 ◽  
Author(s):  
Kaihui Zhao ◽  
Tonghuan Yin ◽  
Changfan Zhang ◽  
Jing He ◽  
Xiangfei Li ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Model Free ◽  
Robust Model ◽  
Nonsingular Terminal Sliding Mode

Investigation of sliding mode control for nonlinear suspension systems with state estimation

2020 ◽  
Vol 21 (6) ◽  
pp. 611
Author(s):  
Xing Chen ◽  
Sen Han ◽  
Tianhong Luo ◽  
Du Guo
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Active Suspension ◽  
Control Force ◽  
State Response ◽  
Suspension Systems ◽  
Mode Control ◽  
Lqr Controller ◽  
Absorption Performance

This paper presented a new control strategy for active suspension of nonlinear quarter-vehicle model. An active suspension controller designed for using sliding mode control with noise filtering. The Kalman filter (KF) predicted the state response of the nonlinear one-quarter automobile model, and the estimated values used for the design of the active control force. Finally, the shock absorption performance compared with the LQR controller and the passive suspension. The simulation results showed that the control method significantly improve the ride performance and safety of the vehicle.

scholarly journals Control of ��-Autonomous Surface Vehicle Using Sliding Mode Control

2019 ◽  
Vol 31 (12) ◽  
pp. 4231
Author(s):  
Yamato Kawamura ◽  
Junichiro Tahara ◽  
Tetsu Kato ◽  
Shoichiro Baba ◽  
Masakazu Koike
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Mode Control ◽  
Autonomous Surface Vehicle

scholarly journals Development of Small Autonomous Surface Vehicle Implementing Position Control System Using Sliding Mode Control

2021 ◽  
Vol 33 (3) ◽  
pp. 883
Author(s):  
Yamato Kawamura ◽  
Junichiro Tahara ◽  
Tetsu Kato ◽  
Shun Fujii ◽  
Shoichiro Baba ◽  
...  
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
Mode Control ◽  
Autonomous Surface Vehicle ◽  
Position Control System

Robust model reference adaptive backstepping sliding-mode control for quadrotor attitude with disturbance observer

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Nigar Ahmed ◽  
Mou Chen
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Model Reference ◽  
Content Type ◽  
Mode Control ◽  
Robust Model ◽  
Backstepping Sliding Mode Control ◽  
Model Reference Adaptive ◽  
Control Criterion

Purpose The purpose of this research paper is to design a disturbance observer-based control based on the robust model reference adaptive backstepping sliding-mode control for attitude quadrotor model subject to uncertainties and disturbances. Design/methodology/approach To estimate and reject the disturbance, a disturbance observer is designed for the exogenous disturbances with perturbation while a control criterion is developed for the tracking of desired output. To achieve the control performance, backstepping and sliding-mode control techniques are patched together to obtain robust chattering-free controller. Furthermore, a model reference adaptive control criterion is also combined with the design of robust control for the estimation and rejection of uncertainties and unmodeled dynamics of the attitude quadrotor. Findings The findings of this research work includes the design of a disturbance observer-based control for uncertain attitude quadrotor system with the ability of achieving tracking control objective in the presence of nonlinear exogenous disturbance with and without perturbation. Practical implications In practice, the quadrotor flight is opposed by different kinds of the disturbances. In addition, being an underactuated system, it is difficult to obtain an accurate mathematical model of quadrotor for the control design. Thus, a quadrotor model with uncertainties and disturbances is inevitable. Hence, it is necessary to design a control system with the ability to achieve the control objectives in the presence of uncertainties and disturbances. Originality/value Designing the control methods for quadrotor control without uncertainties and disturbances is a common practice. However, investigating the uncertain quadrotor plant in the presence of nonlinear disturbances is rarely taken into consideration for the control design. Hence, this paper presents a control algorithm to address the issues of the uncertainties and disturbances as well as investigate a control algorithm to achieve tracking performance.

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