scholarly journals Adaptive Integral Sliding Mode Based Course Keeping Control of Unmanned Surface Vehicle

2022 ◽  
Vol 10 (1) ◽  
pp. 68
Author(s):  
José Antonio González-Prieto ◽  
Carlos Pérez-Collazo ◽  
Yogang Singh
Keyword(s):  
Boundary Conditions ◽  
Control Problem ◽  
Simulation Study ◽  
Sliding Mode ◽  
External Disturbances ◽  
Unmanned Surface Vehicle ◽  
Yaw Rate ◽  
Different Types ◽  
Unknown Disturbances ◽  
System Uncertainties

This paper investigates the course keeping control problem for an unmanned surface vehicle (USV) in the presence of unknown disturbances and system uncertainties. The simulation study combines two different types of sliding mode surface based control approaches due to its precise tracking and robustness against disturbances and uncertainty. Firstly, an adaptive linear sliding mode surface algorithm is applied, to keep the yaw error within the desired boundaries and then an adaptive integral non-linear sliding mode surface is explored to keep an account of the sliding mode condition. Additionally, a method to reconfigure the input parameters in order to keep settling time, yaw rate restriction and desired precision within boundary conditions is presented. The main strengths of proposed approach is simplicity, robustness with respect to external disturbances and high adaptability to static and dynamics reference courses without the need of parameter reconfiguration.

scholarly journals Adaptive Integral Sliding Mode based Path Following Control of Unmanned Surface Vehicle

2021 ◽  
Author(s):  
José Antonio González-Prieto ◽  
Carlos Pérez-Collazo ◽  
Yogang Singh
Keyword(s):  
Simulation Study ◽  
Sliding Mode ◽  
Path Following ◽  
External Disturbances ◽  
Unmanned Surface Vehicle ◽  
Yaw Rate ◽  
Path Following Control ◽  
Different Types ◽  
Unknown Disturbances ◽  
System Uncertainties

This paper investigates the path following control problem for a unmanned surface vehicle (USV) in the presence of unknown disturbances and system uncertainties. The simulation study combines two different types of sliding mode surface based control approaches due to its precise tracking and robustness against disturbances and uncertainty. Firstly, an adaptive linear sliding mode surface algorithm is applied, to keep the yaw error within the desired boundaries and then an adaptive integral non-linear sliding mode surface is explored to keep an account of the sliding mode condition. Additionally, a method to reconfigure the input parameters in order to keep settling time, yaw rate restriction and desired precision within boundary conditions is presented. The main strengths of proposed approach is simplicity, robustness with respect to external disturbances and high adaptability to static and dynamics reference courses without the need of parameter reconfiguration.

scholarly journals Adaptive Fast Non-Singular Terminal Sliding Mode Path Following Control for an Underactuated Unmanned Surface Vehicle with Uncertainties and Unknown Disturbances

Sensors ◽  
2021 ◽  
Vol 21 (22) ◽  
pp. 7454
Author(s):  
Yunsheng Fan ◽  
Bowen Liu ◽  
Guofeng Wang ◽  
Dongdong Mu
Keyword(s):  
Actuator Saturation ◽  
Sliding Mode ◽  
Path Following ◽  
Design Parameters ◽  
Real Time Control ◽  
Sideslip Angle ◽  
Terminal Sliding Mode ◽  
Unmanned Surface Vehicle ◽  
Control Approach ◽  
Unknown Disturbances

This paper focuses on an issue involving robust adaptive path following for the uncertain underactuated unmanned surface vehicle with time-varying large sideslips angle and actuator saturation. An improved line-of-sight guidance law based on a reduced-order extended state observer is proposed to address the large sideslip angle that occurs in practical navigation. Next, the finite-time disturbances observer is designed by considering the perturbations parameter of the model and the unknown disturbances of the external environment as the lumped disturbances. Then, an adaptive term is introduced into Fast Non-singular Terminal Sliding Mode Control to design the path following controllers. Finally, considering the saturation of actuator, an auxiliary dynamic system is introduced. By selecting the appropriate design parameters, all the signals of the whole path following a closed-loop system can be ultimately bounded. Real-time control of path following can be achieved by transferring data from shipborne sensors such as GPS, combined inertial guidance and anemoclinograph to the Fast Non-singular Terminal Sliding Mode controller. Two examples as comparisons were carried out to demonstrate the validity of the proposed control approach.

A Novel Input–Output Linearization Minimum Sliding Mode Error Feedback Control for Synchronization of FitzHugh–Nagumo Neurons

2015 ◽  
Vol 11 (4) ◽  
Author(s):  
Lu Cao ◽  
Xiaoqian Chen
Keyword(s):  
Feedback Control ◽  
Sliding Mode ◽  
Sufficient Conditions ◽  
Error Feedback ◽  
Input Output ◽  
External Disturbances ◽  
Control Error ◽  
Equivalent Control ◽  
System Uncertainties ◽  
Input Output Linearization

A novel input–output linearization minimum sliding mode error feedback control (I/OMSMEFC) is proposed for the synchronization between two uncoupled FitzHugh–Nagumo (FHN) neurons with different ionic currents and external electrical stimulations. To estimate and offset the system uncertainties and external disturbances, the concept of equivalent control error is introduced, which is the key to utilization of I/OMSMEFC. A cost function is formulated on the basis of the principle of minimum sliding mode covariance constraint; then the equivalent control error is estimated and fed back. It is shown that the proposed I/OMSMEFC can compensate various kinds of system uncertainties and external disturbances. Meanwhile, it can reduce the steady-state error more than the conventional sliding mode control (SMC). In addition, the sliding mode after the I/OMSMEFC will tend to be the ideal SMC, resulting in improved control performance and quantity. Sufficient conditions are given based on the Lyapunov stability theorem and numerical simulations are performed to verify the effectiveness of presented I/OMSMEFC for the chaotic synchronization accurately.

scholarly journals RBFNN-Based Singularity-Free Terminal Sliding Mode Control for Uncertain Quadrotor UAVs

2021 ◽  
Vol 2021 ◽  
pp. 1-10 ◽  
Author(s):  
Meiling Tao ◽  
Xiongxiong He ◽  
Shuzong Xie ◽  
Qiang Chen
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Auxiliary Function ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Finite Time Convergence ◽  
Time Control ◽  
Control Scheme ◽  
Unknown Disturbances ◽  
Quadrotor Unmanned Aerial Vehicles

In this article, a singularity-free terminal sliding mode (SFTSM) control scheme based on the radial basis function neural network (RBFNN) is proposed for the quadrotor unmanned aerial vehicles (QUAVs) under the presence of inertia uncertainties and external disturbances. Firstly, a singularity-free terminal sliding mode surface (SFTSMS) is constructed to achieve the finite-time convergence without any piecewise continuous function. Then, the adaptive finite-time control is designed with an auxiliary function to avoid the singularity in the error-related inverse matrix. Moreover, the RBFNN and extended state observer (ESO) are introduced to estimate the unknown disturbances, respectively, such that prior knowledge on system model uncertainties is not required for designing attitude controllers. Finally, the attitude and angular velocity errors are finite-time uniformly ultimately bounded (FTUUB), and numerical simulations illustrated the satisfactory performance of the designed control scheme.

Partial stabilization of underactuated post-capture combination with inaccurate measurement information and unknown disturbances

2017 ◽  
Vol 40 (13) ◽  
pp. 3625-3639 ◽  
Author(s):  
Shiyu Chen ◽  
Jianping Yuan ◽  
Zheng Wang ◽  
Zhanxia Zhu
Keyword(s):  
Numerical Simulations ◽  
Sliding Mode ◽  
Measurement Information ◽  
Sliding Mode Controller ◽  
Attitude Dynamics ◽  
Additional Consideration ◽  
External Disturbances ◽  
Attitude Stabilization ◽  
Adaptive Sliding Mode Controller ◽  
Unknown Disturbances

This paper aims to address the attitude stabilization issue of post-capture combination with underactuated actuators, measurement inaccuracy and unknown external disturbances during on-orbit servicing. A precise and practical form of underactuated attitude dynamics is proposed for the asymmetric combination with two control torques. With the adopted partial stabilization strategy, a sliding mode controller is first proposed to achieve partial stabilization of the combination against the effect of unknown external disturbances. Through the additional consideration of the measurement inaccuracy in the inertia tensor and the mass centroid, an underactuated adaptive sliding mode controller with compensation laws is proposed in presence of uncertainties and disturbances. Numerical simulations validate the effectiveness of proposed partial attitude stabilization controllers.

scholarly journals Neuro-Sliding Control for Underwater ROV’s Subject to Unknown Disturbances

Sensors ◽  
2019 ◽  
Vol 19 (13) ◽  
pp. 2943 ◽  
Author(s):  
Luis Govinda García-Valdovinos ◽  
Fernando Fonseca-Navarro ◽  
Joanes Aizpuru-Zinkunegi ◽  
Tomas Salgado-Jiménez ◽  
Alfonso Gómez-Espinosa ◽  
...  
Keyword(s):  
Sliding Mode ◽  
Tracking Error ◽  
Fast Response ◽  
External Disturbances ◽  
Sliding Control ◽  
Model Free ◽  
Control Scheme ◽  
Parameter Variations ◽  
Unknown Disturbances ◽  
Chattering Free

Proposed in this paper is a model-free and chattering-free second order sliding mode control (2nd-SMC) in combination with a backpropagation neural network (BP-NN) control scheme for underwater vehicles to deal with external disturbances (i.e., ocean currents) and parameter variations caused, for instance, by the continuous interchange of tools. The compound controller, here called the neuro-sliding control (NSC), takes advantage of the 2nd-SMC robustness and fast response to drive the position tracking error to zero. Simultaneously, the BP-NN contributes with its capability to estimate and to compensate online the hydrodynamic variations of the vehicle. When a change in the vehicle’s hydrodynamics occurs, the 2nd-SMC may no longer be able to compensate for the variations since its feedback gains are tuned for a different condition; thus, in order to preserve the desired performance, it is necessary to re-tune the feedback gains, which a cumbersome and time consuming task. To solve this, a viable choice is to implement a BP-NN control scheme along with the 2nd-SMC that adds or removes energy from the system according to the current condition it is in, in order to keep, or even improve, its performance. The effectiveness of the proposed compound controller was supported by experiments carried out on a mini-ROV.

scholarly journals State Synchronization for a Class of n-Dimensional Nonlinear Systems with Sector Input Nonlinearity via Adaptive Two-Stage Sliding Mode Control

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Chi-Hsin Yang ◽  
Kun-Chieh Wang ◽  
Long Wu ◽  
Ren Wen
Keyword(s):  
Dynamical System ◽  
Adaptive Control ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
External Disturbances ◽  
Input Nonlinearity ◽  
Control Scheme ◽  
System Uncertainties ◽  
Stage 1 ◽  
Adaptive Control Scheme

This study addresses an adaptive two-stage sliding mode control (SMC) scheme for the state synchronization between two identical systems, which belong to a kind of n-dimensional chaotic system, by considering the appearance of lumped system uncertainties and external disturbances. The controlled system is assumed to be attached to sector nonlinearity for the control input. The proposed adaptive control scheme involves time-variable state-feedback gains, which are updated in accordance with the appropriate adapted rules without foreknown the certain information of nonlinear system dynamics, bounds of lumped system uncertainties and external disturbances, and sector input nonlinearity. The derivation of the control scheme is found based on the introduced sequence of two sliding functions. The stage 1 sliding function is defined by the states of the error dynamical system, where the asymptotical stability is inherent. Then, the stage 2 sliding function is formed by the stage 1 function, where the finite-time stabilization is guaranteed. The proposed adaptive control scheme can cope with the effect of sector nonlinearity for the control to meet the control goal. The sufficient conditions of the stability of the error dynamical system are proven mathematically by means of the Lyapunov theorem. Besides, the capacity of the present scheme is carried out by the numerical studies.

scholarly journals A Robust Noise-Free Linear Control Design for Robot Manipulator with Uncertain System Parameters

Actuators ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 121
Author(s):  
Yi-Liang Yeh
Keyword(s):  
Feedback Control ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Uncertain System ◽  
Linear Control ◽  
Linear Feedback ◽  
External Disturbances ◽  
Mode Control ◽  
System Uncertainties

In robot control, the sliding mode control is known for its robustness against external disturbances and system uncertainties. However, it has the disadvantage of control chattering, which can damage the actuator and degrade system performance. With a new stability proof, this paper presents an alternative simple linear feedback control that can cope with large system uncertainties and suppress large external disturbances, doing so as effectively as sliding mode control does. The advantage of using linear control is that the control law is simple and control chattering can be avoided. Moreover, a noise-free control scheme is proposed as an improvement of the feedback control; the modified design preserves the advantages of linear control and generates a chattering-free control signal even in a noisy environment.

Tracking Control of an Uncertain MEMS Resonator via Adaptive Terminal Sliding Mode Control

2013 ◽  
Vol 302 ◽  
pp. 665-670
Author(s):  
Chi Ching Yang ◽  
Rong Hao Guo
Keyword(s):  
Sliding Mode ◽  
Reference Signal ◽  
Sufficient Conditions ◽  
Adaptive Controller ◽  
Lyapunov Theory ◽  
Time Varying ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Mems Resonator ◽  
System Uncertainties

The purpose of this study is to develop the adaptive terminal sliding mode scheme to control a MEMS resonator with a six-powered potential function for tracking a given reference signal in the presence of system uncertainties and external disturbances. The proposed adaptive controller includes the time-varying feedback gains can tackle the nonlinear dynamics without directly eliminating. Meanwhile, these time-varying feedback gains are adaptively updated according to the suitable updated rules without the known bounds of system uncertainties and external disturbances. Some sufficient conditions to guarantee the stability based on Lyapunov theory and numerical simulations are performed to demonstrate the effectiveness of the presented scheme.

Finite time attitude tracking control of an autonomous airship

2016 ◽  
Vol 40 (1) ◽  
pp. 155-162 ◽  
Author(s):  
Yueying Wang ◽  
Pingfang Zhou ◽  
Ji-An Chen ◽  
Dengping Duan
Keyword(s):  
Finite Time ◽  
Attitude Control ◽  
Tracking Control ◽  
Feedback Linearization ◽  
Sliding Mode ◽  
Uncertain System ◽  
External Disturbances ◽  
Attitude Tracking ◽  
System Uncertainties ◽  
Attitude Tracking Control

The problem of station-keeping attitude tracking control for an autonomous airship with system uncertainties and external disturbances is investigated. Adaptive laws are applied to estimate the upper bounds of uncertainties and disturbances, and a nonlinear finite time control scheme is proposed by combing input/output feedback linearization with integral sliding mode technique. Different from the existing works on attitude control of airship, the developed controller can guarantee the yaw, pitch and roll angle trajectories track the desired attitude in finite time in spite of uncertain system uncertainties and external disturbances. Simulation results are provided to illustrate the attitude tracking performance.

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