Journal ArticleDOI
Adaptive Second-Order Fast Nonsingular Terminal Sliding Mode Tracking Control for Fully Actuated Autonomous Underwater Vehicles
Lei Qiao,Weidong Zhang +1 more
TLDR
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.Abstract:
This paper focuses on the design of an adaptive second-order fast nonsingular terminal sliding mode control (ASOFNTSMC) scheme for the trajectory tracking of fully actuated autonomous underwater vehicles (AUVs) in the presence of dynamic uncertainties and time-varying external disturbances. First, a second-order fast nonsingular terminal sliding mode (SOFNTSM) manifold is designed to achieve a faster convergence rate than the existing second-order nonsingular terminal sliding mode (SONTSM) manifold. Then, by using this SOFNTSM manifold, an ASOFNTSMC scheme is developed for the fully actuated AUVs to track the desired trajectory. The designed SOFNTSM manifold yields local exponential convergence of the position and attitude tracking errors to zero, and the developed ASOFNTSMC scheme ensures that the error trajectories always move toward the SOFNTSM manifold and once they hit the manifold, remain on it in the presence of dynamic uncertainties and time-varying external disturbances. By deriving the expression of the bounding function of the system uncertainty and using adaptive technique to estimate the unknown parameters of the system uncertainty bounds, the ASOFNTSMC scheme does not require the prior knowledge of the upper bound of the system uncertainty. Meanwhile, through involving the discontinuous sign function into the time derivative of the control input, the ASOFNTSMC scheme eliminates the chattering without reducing the tracking precision. 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. Two comparative simulation cases performed respectively on two fully actuated AUVs demonstrate the superiority of the ASOFNTSMC scheme over the ASONTSMC scheme.read more
Citations
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Journal ArticleDOI
Self-tuning fuzzy PID-nonsingular fast terminal sliding mode control for robust fault tolerant control of robot manipulators
TL;DR: A new robust controller is developed for robot manipulator based on an integrating between a novel self-tuning fuzzy proportional-integral-derivative (PID)-nonsingular fast terminal sliding mode control (STF-PID-NFTSM) and a time delay estimation (TDE).
Journal ArticleDOI
Review of sliding mode based control techniques for control system applications
TL;DR: The development of SMC based technique with integration of intelligent control in the field of control engineering has been surveyed by considering numerous applications.
Journal ArticleDOI
Finite-time extended state observer based nonsingular fast terminal sliding mode control of autonomous underwater vehicles
TL;DR: A finite-time extended state observer-based nonsingular fast terminal sliding mode control (NFTSMC) is proposed for the trajectory tracking of autonomous underwater vehicles (AUVs) with various hydrodynamic uncertainties and external disturbances.
Journal ArticleDOI
Practical adaptive fractional‐order nonsingular terminal sliding mode control for a cable‐driven manipulator
Journal ArticleDOI
Trajectory tracking for autonomous underwater vehicle: An adaptive approach
TL;DR: The main feature of the proposed control law is that it preserves the advantages of robust control and it does not need the knowledge of the upper bound of the disturbance and it is easy to tune in real applications.
References
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Book
Sliding Modes in Control and Optimization
TL;DR: The theory and practical application of Lyapunov's Theorem, a method for the Study of Non-linear High-Gain Systems, are studied.
Journal ArticleDOI
Sliding order and sliding accuracy in sliding mode control
TL;DR: It turns out that the deviation of the system from its prescribed constraints (sliding accuracy) is proportional to the switching time delay and a new class of sliding modes and algorithms is presented and the concept of sliding mode order is introduced.
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.
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