scholarly journals High Velocity Lane Keeping Control Method Based on the Non-Smooth Finite-Time Control for Electric Vehicle Driven by Four Wheels Independently

Electronics ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 760
Author(s):  
Qinghua Meng ◽  
Xin Zhao ◽  
Chuan Hu ◽  
Zong-Yao Sun
Keyword(s):  
Electric Vehicle ◽  
Finite Time ◽  
Control Method ◽  
Tracking Error ◽  
Computing Methods ◽  
Superposition Method ◽  
Direct Lyapunov Method ◽  
Time Control ◽  
Error Weight ◽  
Lane Keeping

In order to improve the output response and robustness of the lane keeping controller for the electric vehicle driven by four wheels independently (EV-DFWI), the article proposes a lane keeping controller based on the non-smooth finite-time (NoS-FT) control method. Firstly, a lane keeping control (LKC) model was built for the EV-DFWI. Secondly, a tracking method and error weight superposition method to track error computing for the lane keeping control based on the LKC model are proposed according to the lane line information. Thirdly, a NoS-FT controller was constructed for lane keeping. It is proved that the NoS-FT controller can stabilize the system by the direct Lyapunov method. Finally, the simulations were carried out to verify that the NoS-FT controller can keep the vehicle running in the desired lane with the straight road, constant curvature road, varied curvature road, and S-bend road. The simulation results show that the NoS-FT controller has better effectiveness than the PID controller. The contributions of this article are that two kinds of tracking error computing methods of lane keeping control are proposed to deal with different conditions, and a Non-FT lane keeping controller is designed to keep the EV-DFWI running in the desired lane suffering external disturbances.

scholarly journals Finite-Time Switching Control of Nonholonomic Mobile Robots for Moving Target Tracking Based on Polar Coordinates

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Hua Chen ◽  
Shen Xu ◽  
Lulu Chu ◽  
Fei Tong ◽  
Lei Chen
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Control Method ◽  
Tracking Error ◽  
Switching Control ◽  
Polar Coordinates ◽  
Control Law ◽  
Moving Target ◽  
Nonholonomic Mobile Robots ◽  
Time Switching

In this paper, finite-time tracking problem of nonholonomic mobile robots for a moving target is considered. First of all, polar coordinates are used to characterize the distance and azimuth between the moving target and the robot. Then, based on the distance and azimuth transported from the sensor installed on the robot, a finite-time tracking control law is designed for the nonholonomic mobile robot by the switching control method. Rigorous proof shows that the tracking error converges to zero in a finite time. Numerical simulation demonstrates the effectiveness of the proposed control method.

Immersion and invariance adaptive finite-time control of air-breathing hypersonic vehicles

2018 ◽  
Vol 233 (7) ◽  
pp. 2626-2641 ◽  
Author(s):  
Chao Han ◽  
Zhen Liu ◽  
Jianqiang Yi
Keyword(s):  
Control System ◽  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Second Order ◽  
Hypersonic Vehicles ◽  
Terminal Sliding Mode ◽  
Air Breathing ◽  
Immersion And Invariance ◽  
Time Control

In this paper, a novel adaptive finite-time control of air-breathing hypersonic vehicles is proposed. Based on the immersion and invariance theory, an adaptive finite-time control method for general second-order systems is first derived, using nonsingular terminal sliding mode scheme. Then the method is applied to the control system design of a flexible air-breathing vehicle model, whose dynamics can be decoupled into first-order and second-order subsystems by time-scale separation principle. The main features of this hypersonic vehicle control system lie in the design flexibility of the parameter adaptive laws and the rapid convergence to the equilibrium point. Finally, simulations are conducted, which demonstrate that the control system has the features of fast and accurate tracking to command trajectories and strong robustness to parametric and non-parametric uncertainties.

A New Finite Time Control Solution for Robotic Manipulators Based on Nonsingular Fast Terminal Sliding Variables and the Adaptive Super-Twisting Scheme

2019 ◽  
Vol 14 (3) ◽  
Author(s):  
Vo Anh Tuan ◽  
Hee-Jun Kang
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Control Law ◽  
Continuous Control ◽  
Terminal Sliding Mode ◽  
Finite Time Convergence ◽  
Position Errors ◽  
Time Control

In this study, a new finite time control method is suggested for robotic manipulators based on nonsingular fast terminal sliding variables and the adaptive super-twisting method. First, to avoid the singularity drawback and achieve the finite time convergence of positional errors with a fast transient response rate, nonsingular fast terminal sliding variables are constructed in the position errors' state space. Next, adaptive tuning laws based on the super-twisting scheme are presented for the switching control law of terminal sliding mode control (TSMC) so that a continuous control law is extended to reject the effects of chattering behavior. Finally, a new finite time control method ensures that sliding motion will take place, regardless of the effects of the perturbations and uncertainties on the robot system. Accordingly, the stabilization and robustness of the suggested control system can be guaranteed with high-precision performance. The robustness issue and the finite time convergence of the suggested system are totally confirmed by the Lyapunov stability principle. In simulation studies, the experimental results exhibit the effectiveness and viability of our proposed scheme for joint position tracking control of a 3DOF PUMA560 robot.

scholarly journals Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer

Sensors ◽  
2019 ◽  
Vol 19 (22) ◽  
pp. 4987 ◽  
Author(s):  
Xu ◽  
Zhang ◽  
Cao ◽  
Pang ◽  
Sun
Keyword(s):  
Finite Time ◽  
Autonomous Underwater Vehicle ◽  
Tracking Error ◽  
Three Dimensional ◽  
Path Following ◽  
Lyapunov Stability Theory ◽  
Ocean Currents ◽  
3D Tracking ◽  
Time Control ◽  
Underactuated Auv

The three-dimensional (3D) path following problem of an underactuated autonomous underwater vehicle with ocean currents disturbances is addressed in this paper. Firstly, the motion equation under the ocean currents disturbance is established, and the dynamic model of 3D tracking error is constructed based on virtual guidance method. Then, a finite-time control scheme based on super-twisting observer and command filtered backstepping technology is proposed. We adopt super-twisting observer based on finite-time theory to observe the ocean currents disturbances for improving the system robust. A command filtered backstepping is proposed to replace the differential process in the conventional backstepping method for avoiding the differential expansion problem. The filter compensation loop is designed to ensure the accuracy of the filtered signal, and the anti-integration saturation link is designed considering the influence of integral saturation. Lyapunov stability theory is used to prove the stability of the underactuated AUV. Simulation studies are conducted to show the effectiveness and robustness of the controller.

Fixed-time fractional-order sliding mode control for nonlinear power systems

2020 ◽  
Vol 26 (17-18) ◽  
pp. 1425-1434 ◽  
Author(s):  
Sunhua Huang ◽  
Jie Wang
Keyword(s):  
Sliding Mode Control ◽  
Power System ◽  
Fractional Order ◽  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Fixed Time ◽  
Sliding Mode Controller ◽  
Mode Control ◽  
Time Control

In this study, a fractional-order sliding mode controller is effectively proposed to stabilize a nonlinear power system in a fixed time. State trajectories of a nonlinear power system show nonlinear behaviors on the angle and frequency of the generator, phase angle, and magnitude of the load voltage, which would seriously affect the safe and stable operation of the power grid. Therefore, fractional calculus is applied to design a fractional-order sliding mode controller which can effectively suppress the inherent chattering phenomenon in sliding mode control to make the nonlinear power system converge to the equilibrium point in a fixed time based on the fixed-time stability theory. Compared with the finite-time control method, the convergence time of the proposed fixed-time fractional-order sliding mode controller is not dependent on the initial conditions and can be exactly evaluated, thus overcoming the shortcomings of the finite-time control method. Finally, superior performances of the fractional-order sliding mode controller are effectively verified by comparing with the existing finite-time control methods and integral order sliding mode control through numerical simulations.

scholarly journals Adaptive Finite-time Dynamic Surface Neural Network Control of an Uncertain Robot with Output Constraint and Input Saturation

2021 ◽  
Author(s):  
Zhao Zhang ◽  
Lingxi Peng ◽  
Zhijia Zhao
Keyword(s):  
Neural Network ◽  
Finite Time ◽  
Control Method ◽  
Tracking Error ◽  
Input Saturation ◽  
Network Control ◽  
Neural Network Control ◽  
Dynamic Surface ◽  
Time Dynamic ◽  
Output Constraints

Abstract In this study, a finite-time dynamic surface neural network control is developed for an uncertain n-link robot subject to input saturation and output constraints. First, a barrier Lyapunov function and a hyperbolic tangent function are applied to solve the system constraints using a dynamic surface control. Subsequently, a radial basis function neural network is utilized to handle system uncertainties. Then, a finite-time filter is employed in the design to achieve the fast convergence and a Nussbaum function is employed to optimize the design process. Finally, the simulation results show that the dynamic tracking error is proved to converging to zero, and the proposed control method is effective and never violates the constraints.

scholarly journals Distributed Formation Control for Multiple Quadrotor Based on Multi-Agent Theory and Disturbance Observer

2019 ◽  
Vol 2019 ◽  
pp. 1-11 ◽  
Author(s):  
Xiaohua Zhang ◽  
Junli Gao ◽  
Wenfeng Zhang ◽  
Tao Zeng ◽  
Liping Ye
Keyword(s):  
Finite Time ◽  
Formation Control ◽  
Control Method ◽  
Homogeneous System ◽  
Lyapunov Theory ◽  
Uncertain Parameters ◽  
External Disturbances ◽  
Agent Theory ◽  
Time Control ◽  
Multi Agent

This paper presents the disturbance observers-based distributed formation control for multiple quadrotor aircrafts with external disturbances and uncertain parameters using multi-agent theory and finite-time control method. Firstly, the finite-time disturbance observers are proposed to handle the external disturbances on the position-loop. Similarly, when there are both the uncertain parameters and external disturbances on the attitude-loop, the finite-time disturbance observers are designed to estimate the total lump disturbances. By skillfully using homogeneous system theory, Lyapunov theory, and multi-agent theory, the distributed formation control algorithms are developed. Finally, through simulations, the efficiency of the proposed method (including the convergence rate and disturbance rejection) is verified.

scholarly journals Distributed Finite-Time Bipartite Consensus for Multiagent System with Event-Triggered Control

2020 ◽  
Vol 2020 ◽  
pp. 1-8
Author(s):  
Haibo Xie ◽  
Zhengjiang Liu ◽  
Chengyong Yan ◽  
Shibo Zhou
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Initial State ◽  
Consensus Control ◽  
Whole Process ◽  
Time Control ◽  
Consensus Values ◽  
Bipartite Consensus ◽  
Necessary And Sufficient ◽  
Event Triggered

This paper investigates the distributed finite-time event-triggered bipartite consensus control for multiagent systems over antagonistic networks. Under the constraint of energy conservation, a distributed nonlinear finite-time control protocol only depending upon local information is proposed coupled with event-triggered strategies, where controllers of agents at triggered instants are only updated to reduce the computation. It is proved that when the antagonistic network is structurally balanced with a spanning tree, a necessary and sufficient condition is established to guarantee all agents to reach consensus values with identical magnitude but opposite signs. More interestingly, the settling time depending on the initial state is obtained over the whole process. Comparing to asymptotic control algorithms, the proposed control method has better disturbance rejection properties and convergence rate. Simulations are given to demonstrate the effectiveness of the theoretical results.

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