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
Design of an Adaptive Sliding Mode Control for a Micro-AUV Subject to Water Currents and Parametric Uncertainties
TL;DR: The proposed adaptive sliding mode controller is compared to its non-adaptive equivalent and PD (Proportional Derivative) computed torque control and demonstrates that the proposed adaptive control has better robustness and precision for this particular type of vehicle.
Journal ArticleDOI
A novel adaptive sliding mode controller design for tracking problem of an AUV in the horizontal plane
TL;DR: A novel reaching law for sliding mode controllers with an adaptive gain which eliminates the aforementioned drawbacks from the input signal of the system and demonstrates its superiority against the previous methods reported in the literature.
Journal ArticleDOI
Complementary Sliding Mode Control via Elman Neural Network for Permanent Magnet Linear Servo System
Hongyan Jin,Ximei Zhao +1 more
TL;DR: The experimental results show that the proposed control strategy not only improves tracking accuracy but also guarantees the robustness of the system.
Journal ArticleDOI
Synchronization problem for a class of multi-input multi-output systems with terminal sliding mode control based on finite-time disturbance observer: Application to Chameleon chaotic system
TL;DR: A continuous control input is developed that eliminates chattering in synchronization of nonlinear MIMO master-slave system; as a result, a chattering-free TSMC is attained which makes the synchronization errors converge to the origin in finite-time period.
Journal ArticleDOI
Cooperative Learning-Based Formation Control of Autonomous Marine Surface Vessels With Prescribed Performance
TL;DR: In this paper , a cooperative learning formation control problem for multiple homogeneous marine surface vessels (MSVs) subject to external time-varying disturbances and modeling uncertainties under the prescribed performance constraint is addressed.
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.