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
Disturbance Observer-Based Control for 6-DOF Remotely Operated Underwater Vehicle with Model Uncertainties
Journal ArticleDOI
Stabilization of floating platform by boundary tracking control
TL;DR: In this paper , a boundary tracking control scheme is investigated for the stabilization of a floating platform connected to a traditional mooring system, which is composed of an auxiliary exo-system to generate the desired time-varying reference trajectory in the vertical direction.
Book ChapterDOI
A Review on Tracking Control of the Underactuated Vessel with Time Delays
TL;DR: In this paper , the tracking control method of an underactuated vessel with time delays is studied, according to the classification of control methods based on time delay estimation(TDE) and model prediction, the control structures of five hybrid control methods are summarized and demonstrated.
Proceedings ArticleDOI
Adaptive Fast Nonsingular Terminal Sliding Mode Control for Near Space Vehicle
Cui Wang,Qiang Zhang +1 more
TL;DR: The finite-time convergence of sliding mode variable and tracking error is proved and the effectiveness of the proposed FNTSM tracking control scheme is illustrated.
Book ChapterDOI
Fractional Integral Sliding Mode Control for Trajectory Tracking of Baxter Robot Manipulators
Xiru Wu,Jingtong Jia +1 more
TL;DR: In this article, a fractional integral sliding mode control algorithm is proposed to solve the problems of poor tracking accuracy and poor robustness for multi-degree-of-freedom manipulators during trajectory tracking.
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.