Target Tracking Algorithm Using Finite-time Convergence Smooth Second-order Sliding Mode Controller for Mobile Robots

2011 ◽  
Vol 24 (03) ◽  
pp. 414 ◽  
Author(s):  
Lianzheng GE
Keyword(s):  
Mobile Robots ◽  
Target Tracking ◽  
Finite Time ◽  
Sliding Mode ◽  
Second Order ◽  
Tracking Algorithm ◽  
Sliding Mode Controller ◽  
Finite Time Convergence ◽  
Second Order Sliding Mode

scholarly journals Second-Order Sliding Mode Guidance Law considering Second-Order Dynamics of Autopilot

2019 ◽  
Vol 2019 ◽  
pp. 1-11
Author(s):  
Kuanqiao Zhang ◽  
Suochang Yang
Keyword(s):  
Dynamic Characteristics ◽  
Finite Time ◽  
Sliding Mode ◽  
Impact Angle ◽  
Second Order ◽  
Terminal Sliding Mode ◽  
Finite Time Convergence ◽  
Guidance Law ◽  
Impact Angle Constraint ◽  
Second Order Sliding Mode

Aiming at the requirement that some missiles need to meet certain impact angles when attacking targets, we consider the second-order dynamic characteristics of autopilot, thereby proposing a second-order sliding mode guidance law with impact angle constraint. Firstly, based on the terminal sliding mode control, we design a fast nonsingular terminal sliding mode guidance law with impact angle constraint. Based on the second-order sliding mode control, a second-order sliding mode guidance law with impact angle constraint is proposed. We have proved its finite time convergence characteristics and presented the specific convergence time expression. Subsequently, the dynamic characteristics of the autopilot are approximated to the second-order link. Combined with the dynamic surface control theory, we proposed a second-order sliding mode guidance law considering the second-order dynamic characteristics of the autopilot and proved its finite-time convergence characteristics. Finally, the effectiveness and superiority of the proposed guidance law are verified by comparative simulation experiments.

scholarly journals Global Finite-Time Set Stabilization of Spacecraft Attitude with Disturbances using Second-Order Sliding Mode Control

2021 ◽  
Author(s):  
Zeyu Guo ◽  
Zuo Wang ◽  
Shihua Li
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Tracking Error ◽  
Second Order ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Attitude Stabilization ◽  
Stabilization Control ◽  
Set Stabilization ◽  
Second Order Sliding Mode

Abstract The performance of attitude stabilization control algorithms for rigid spacecraft can be limited by disturbances. In this paper, the global finite-time attitude stabilization problem with disturbances is investigated and handled by constructing a second-order sliding mode controller. Firstly, a virtual controller based on set stabilization idea is constructed to globally finite-time stabilize the system. Then, a relay polynomial second-order sliding mode controller is constructed to guarantee that the tracking error towards the virtual controller will converge to zero in finite-time. Finite-time Lyapunov theory is applied to support the proof and stability analysis. The global finite-time stability holds even with bounded disturbances. The effectiveness and feasibility of the controller are illustrated by the numerical simulations.

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