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
More filters
Journal ArticleDOI
Survey on Fuzzy-Logic-Based Guidance and Control of Marine Surface Vehicles and Underwater Vehicles
TL;DR: The design and analysis process of direct/indirect adaptive fuzzy control and fuzzy PID control in marine robotic fields are summarized and trends of the fuzzy future in Marine robotic vehicles are concluded based on its state of the art.
Journal ArticleDOI
Trajectory Tracking Control of AUVs via Adaptive Fast Nonsingular Integral Terminal Sliding Mode Control
Lei Qiao,Weidong Zhang +1 more
TL;DR: An adaptive fast nonsingular integral terminal sliding mode control (AFNITSMC) method that provides AUV dynamics a faster convergence rate and its superiority over the existing ANITSMC method is proposed.
Journal ArticleDOI
Adaptive Second-Order Fast Nonsingular Terminal Sliding Mode Tracking Control for Fully Actuated Autonomous Underwater Vehicles
Lei Qiao,Weidong Zhang +1 more
TL;DR: Compared with the existing adaptive SONTSM control (ASONTSMC) scheme, the proposed ASOFNTSMC scheme offers a faster convergence rate for the trajectory tracking control of fully actuated AUVs.
Journal ArticleDOI
Improved Non-Singular Fast Terminal Sliding Mode Control With Disturbance Observer for PMSM Drives
Bo Xu,Lei Zhang,Wei Ji +2 more
TL;DR: A compound control method using improved non-singular fast terminal sliding mode controller (NFTSMC) and disturbance observer compensation techniques are developed and shows that the proposed control method has better suppression of chattering effect, fast dynamic response and disturbance rejection ability.
Journal ArticleDOI
Robust adaptive sliding mode control of underactuated autonomous underwater vehicles with uncertain dynamics
Zheping Yan,Man Wang,Jian Xu +2 more
TL;DR: The rigorous stability analysis based Lyapunov’s method demonstrates the uniform ultimate boundedness of all the tracking errors in the closed-loop system and the effectiveness of the proposed controllers.
References
More filters
Journal ArticleDOI
Terminal sliding mode control of MIMO linear systems
Man Zhihong,Xinghuo Yu +1 more
TL;DR: It is shown that, by inserting a nonlinear term of the system state in the MIMO linear sliding mode, a new terminal sliding mode is developed for MIMo linear systems.
Journal ArticleDOI
Practical Nonsingular Terminal Sliding-Mode Control of Robot Manipulators for High-Accuracy Tracking Control
TL;DR: This paper presents a practical nonsingular terminal sliding-mode (TSM) tracking control design for robot manipulators using time-delay estimation (TDE) and provides high-accuracy control and robustness against parameters variations.
Journal ArticleDOI
Practical Tracking Control of Robot Manipulators With Continuous Fractional-Order Nonsingular Terminal Sliding Mode
TL;DR: The proposed control design requires no detailed information about the robot dynamics, leading to an attractive model-free nature thanks to TDE, and ensures fast convergence and high tracking precision under heavy lumped uncertainties due to the FONTSM surface and fast-TSM-type reaching law.
Journal ArticleDOI
Adaptive sliding-mode attitude control for autonomous underwater vehicles with input nonlinearities
Rongxin Cui,Xin Zhang,Dong Cui +2 more
Journal ArticleDOI
Derivative and integral terminal sliding mode control for a class of MIMO nonlinear systems
TL;DR: Different from traditional TSMC, this paper accomplishes finite convergence time for more general high-order MIMO systems and avoids the singular problem in the controller design.