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In this paper, an Estimator/Observer Swapping system is proposed, for the surface Permanent Magnet Synchronous Motor (PMSM), to overcome position observability problems at zero speed which is an unobservable state point. The designed observer based on Higher Order Sliding Mode (HOSM) is used in order to ensure the robustness against disturbances and to avoid the chattering phenomenon which is inherent...
The ship straight-line tracking system is restricted by unintegrable second order nonholonomic constraint, so it is underactuated and difficult to control. The control of the ship straight-line tracking was converted to the control of an actuated system by the output variable redefined method. The stabilization of tracking system, which can be ensured by the stabilization of the new system, was proved...
A discontinuous time-invariant switching feedback control law is proposed to make the states of an underactuated surface vessel convergence to equilibrium point in finite time. After global diffeomorphism and input transformations, explicit formulas of the state feedback control law are respectively proposed for two subsystems based on global fast terminal sliding mode control strategy. Thus, the...
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