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
Barrier-Based Adaptive Line-of-Sight 3-D Path-Following System for a Multijoint Robotic Fish With Sideslip Compensation
TL;DR: In this article , a barrier-based adaptive line-of-sight (ALOS) three-dimensional (3D) path-following system for an underactuated multijoint robotic fish is proposed.
Journal ArticleDOI
Adaptive output feedback super twisting algorithm for trajectory tracking control of USVs with saturated constraints
TL;DR: In this article , an output feedback scheme, which combines the saturated adaptive super twisting algorithm and non-singular fast terminal sliding mode (SASTA-NFTSM) technique, is proposed.
Proceedings ArticleDOI
Adaptive Terminal Sliding Mode Control of Hyper-Chaotic Uncertain 4-Order system with One Control Input
TL;DR: A novel Adaptive Terminal SMC (ATSMC) method to control the hyper-chaotic 4-order system within a finite-time by utilizing only one control input and results reveal that the finite- time stability is achieved accurately as soon as the controller is introduced.
Journal ArticleDOI
Robust Self-Adjustable Path-Tracking Control for Autonomous Underwater Vehicle
Nadia Zendehdel,Mehdi Gholami +1 more
TL;DR: A supervisory two-level controller for an autonomous underwater vehicle path following problem despite the underwater uncertain operation conditions and external measurement noises is designed and the results show improvement in the tracking error in the presence of noise and dynamic model parameter perturbation.
Proceedings ArticleDOI
Fuzzy adaptive terminal sliding mode control of SIMO nonlinear systems with T-S fuzzy model
TL;DR: This paper aims to design a control input by using of adaptive terminal sliding mode control (ATSMC) method to ensure finite time stability for single input-multi output (SIMO) fuzzy system with T-S model at the same time by estimate unknowns and external disturbances upper bounds.
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.