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
ESO based sliding mode control for the welding robot with backstepping
TL;DR: Based on the combination of sliding mode control and backstepping control strategy, a new controller is designed, which has strong robustness and accuracy in terms of the dynamic uncertainty in the process of trajectory tracking and considering the estimated information.
Journal ArticleDOI
Time-Delay Control of Cable-Driven Robots With Adaptive Fractional-Order Nonsingular Terminal Sliding Mode
TL;DR: A novel time-delay control (TDC) scheme with adaptive fractional-order nonsingular terminal sliding mode (AFONTSM) with TDE technique that ensures a fascinating model-free feature and can be easily applied in complex practical applications.
Journal ArticleDOI
Trajectory tracking control for unmanned surface vessel with input saturation and disturbances via robust state error IDA-PBC approach
TL;DR: In this article , a robust state error Interconnection and Damping assignment Passivity-based Control (IDA-PBC) controller for unmanned surface vessels (USVs) with input saturation and disturbances is proposed.
Journal ArticleDOI
Sliding-Mode Control of Full-State Constraint Nonlinear Systems: A Barrier Lyapunov Function Approach
TL;DR: In this paper , a robust control based on the sliding-mode theory is proposed to solve the stabilization and trajectory tracking problems of nonlinear systems subjected to a class of full-state restrictions.
Journal ArticleDOI
The Load Frequency Control by Adaptive High Order Sliding Mode Control Strategy
TL;DR: In this article , a novel adaptive high-order sliding mode control (HOSMC) method was proposed to decrease the chattering phenomenon, which has the benefit of parameterizable unmodeled dynamics compared with the HOSMC method.
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.