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
Double-loop sliding mode controller with a novel switching term for the trajectory tracking of work-class ROVs
Bolun Huang,Qi Yang +1 more
TL;DR: The inverse tangent function is proposed as a novel switching term for conventional sliding mode controller (CSMC), and the simulation proves that this function can effectively reduce the chattering phenomenon of the CSMC.
Journal ArticleDOI
Optimal robust trajectory tracking control of a X-rudder AUV with velocity sensor failures and uncertainties
TL;DR: Two reduced-order extended state observers are designed to estimate the surge and heave velocities, and the estimated values are used to replace all the linear velocity-related parameters in controller design, which helps releasing the requirements of linearVelocities measurement and makes the controller robust against linear velocity sensor failures.
Journal ArticleDOI
Switching sliding-mode control strategy based on multi-type restrictive condition for voltage control of buck converter in auxiliary energy source
TL;DR: The proposed switching sliding-mode control strategy can not only ensure the robust voltage control of the buck converter in the auxiliary energy source, but also simplify the implementation of exponential circuit in practical applications.
Journal ArticleDOI
Backstepping Nonsingular Terminal Sliding Mode Control for PMSM With Finite-Time Disturbance Observer
Tong Li,Xudong Liu,Haisheng Yu +2 more
TL;DR: In this article, a backstepping nonsingular terminal sliding mode control (BNTSMC) method with finite-time disturbance observer (FTDO) is proposed to ensure excellent tracking and anti-disturbance performance.
Journal ArticleDOI
Adaptive trajectory tracking control for remotely operated vehicles considering thruster dynamics and saturation constraints
TL;DR: An adaptive sliding mode control design scheme based on RBF neural networks is developed using a backstepping design technique to ensure the stability of the adaptive trajectory tracking system when the thrusters are saturated.
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.