Journal ArticleDOI
Adaptive non-singular integral terminal sliding mode tracking control for autonomous underwater vehicles
Lei Qiao,Weidong Zhang +1 more
TLDR
The designed ANITSMC of AUVs avoids the requirement of the prior knowledge of the lumped system uncertainty bounds, provides higher tracking accuracy than the existing globally finite-time stable tracking control (GFTSTC), and offers faster convergence rate and better robustness against dynamic uncertainties and time-varying external disturbances than the adaptive proportional-integral sliding mode control.Abstract:
This study proposes an adaptive non-singular integral terminal sliding mode control (ANITSMC) scheme for trajectory tracking of autonomous underwater vehicles (AUVs) with dynamic uncertainties and time-varying external disturbances. The ANITSMC is first proposed for a first-order uncertain non-linear dynamic system to eliminate the singularity problem in conventional terminal sliding mode control (TSMC) and avoid the requirement of the bound information of the lumped system uncertainty. The time taken to reach the equilibrium point from any initial error is guaranteed to be finite. The proposed ANITSMC is then applied to trajectory tracking control of AUVs. It guarantees that the velocity tracking errors locally converge to zero in finite time and after that the position tracking errors locally converge to zero exponentially. The designed ANITSMC of AUVs avoids the requirement of the prior knowledge of the lumped system uncertainty bounds as opposite to the existing globally finite-time stable tracking control (GFTSTC), provides higher tracking accuracy than the existing GFTSTC and adaptive non-singular TSMC (ANTSMC) and offers faster convergence rate and better robustness against dynamic uncertainties and time-varying external disturbances than the adaptive proportional-integral sliding mode control (APISMC). Comparative simulation results are presented to validate the superiority of the ANITSMC over the APISMC.read more
Citations
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Journal ArticleDOI
A fault diagnosis method based on attention mechanism with application in Qianlong-2 autonomous underwater vehicle
TL;DR: This study embeds a spatial attention mechanism in the fault detection network to capture the semantic relationship between monitoring variables and faults, and fault identification result can be obtained by parsing this semantic relationship.
Journal ArticleDOI
Simple adaptive trajectory tracking control of underactuated autonomous underwater vehicles under LOS range and angle constraints
TL;DR: Strict stability analysis indicates that the designed control law makes AUVs track the desired trajectory within the LOS range and angle constraints and guarantees the boundedness of all signals of the closed-loop control system.
Journal ArticleDOI
Neural Integral Non-Singular Fast Terminal Synchronous Sliding Mode Control for Uncertain 3-DOF Parallel Robotic Manipulators
Anh Tuan Vo,Hee-Jun Kang +1 more
TL;DR: This work designs a Neural Integral Non-singular Fast Terminal Synchronous Sliding Mode Control (NINFTSSMC) approach for 3-DOF parallel robotic manipulators with uncertain dynamics, using synchronous nonlinear sliding surface, where this sliding surface is formed through the integration of the Synchronization Control.
Journal ArticleDOI
Robust adaptive steering control for unmanned surface vehicle with unknown control direction and input saturation
Journal ArticleDOI
Integral Non-Singular Terminal Sliding Mode Controller for nth-Order Nonlinear Systems
TL;DR: A new integral non-singular terminal sliding mode control method for nonlinear systems is introduced by defining a new sliding surface with an additional integral part that is first introduced into the second-order system and then expanded to nth-order systems.
References
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Book
Applied Nonlinear Control
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Journal ArticleDOI
Continuous finite-time control for robotic manipulators with terminal sliding modes
TL;DR: A continuous finite-time control scheme for rigid robotic manipulators is proposed using a new form of terminal sliding modes using the Lyapunov stability theory, and theoretical analysis and simulation results show that faster and high-precision tracking performance is obtained.
Journal ArticleDOI
Brief Non-singular terminal sliding mode control of rigid manipulators
Yong Feng,Xinghuo Yu,Zhihong Man +2 more
TL;DR: This paper presents a global non-singular terminal sliding mode controller for rigid manipulators to enable the elimination of the singularity problem associated with conventional terminal slide mode control.
Journal ArticleDOI
Continuous finite-time stabilization of the translational and rotational double integrators
TL;DR: A class of bounded continuous time-invariant finite-time stabilizing feedback laws is given for the double integrator because Lyapunov theory is used to prove finite- time convergence.
Journal ArticleDOI
A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators
TL;DR: A robust MIMO terminal sliding mode technique and a few structural properties of rigid robotic manipulators are developed so that the output tracking error can converge to zero in a finite time, and strong robustness with respect to large uncertain dynamics can be guaranteed.