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This paper studies the adaptive position and velocity tracking control for high speed train with asymmetric nonlinear input saturation. Adaptive tracking control for high speed train encounters great challenges when the train dynamics containing nonlinearities, asymmetric input saturation and unknown external disturbances. An adaptive tracking control method is developed by means of sliding mode technique...
Sliding mode control is a nonlinear, deterministic, robust control method and treated as a subclass of variable structure systems theory. The control input is obtained with a high speed, nonlinear feedback that drives the phase trajectory to a predetermined or adaptive sliding surface and then the control input discontinuously switches on this surface. It is easy to apply and quite effective against...
For underactuated overhead cranes, this paper designs a novel sliding mode control method. Specifically, similar to the idea of backstepping method, the overall dynamic system is divided into two cascaded subsystems; thus the control algorithm consists of two steps. At first, the payload swing angle is kept in a bounded area by tracking a target trajectory. Second, the positioning error is indirectly...
A fixed-time sliding mode control scheme is designed in this paper for the high-order linear systems in the pure-feedback form with system uncertainties. A recursive procedure is utilized where a set of switching manifolds have been resorted to realize the fixed-time stability. The initial conditions of the system variables are confined in a particular region so as to avoid the singularity problem...
This paper presents a second-order sliding-mode (SOSM) control approach for inductively coupled power transfer (ICPT) systems based on zero-current-switching. A second-order dc equivalent model of a series-series (SS) compensated ICPT system is established by replacing its primary side with a dc source and simplifying the rectifier on the secondary side. A SOSM controller implemented by a digital...
The second-order sliding-mode controller based on improved sub-optimal algorithm for synchronous Buck converte r is designed, and the converter can be controlled only by detecti ng the output voltage without measuring the capacitance current of the converter. By introducing hysteresis to sub-optimal algorit hm, the switching frequency of the converter is limited when the output voltage is stable....
Recent advances in robotics have led to the development of exoskeleton robots that are becoming extensively used in the medical domain, to assist and help people suffering from physical impairments recover mobility. Most of existing controllers designed for position control of exoskeleton robots are linear which may not be suitable for exoskeleton robots having complex structures under heavy uncertainties...
This paper concerns the control law design by variable structure control for a kind of uncertain discrete-time systems. Why the chattering shows up for this kind of systems by discrete reaching law is investigated, and then a developed variable structure controller is designed based on grey prediction iterative algorithm. Based on the grey prediction model, the parameter values are obtained. A criterion...
This paper investigates the contour control problem of an X-Y table driven by two permanent magnet linear motors based on terminal sliding mode control method. By introducing a non-singular terminal sliding mode control(NTSMC), a novel contour controller is designed for biaxial motion control system. A variable exponential reaching law based on equivalent error was designed in order to eliminate the...
This paper studies the transmission synchronization (TS) problem among multiple coupled chaotic systems by considering unknown parameters. In the solving process, we firstly select a special integral sliding surfaces, and then we develop an effective controller with the compensation terms to guarantee the asymptotical stability of all TS error systems. Simultaneously, we design the proper adaptive...
A sliding mode control approach is proposed to synchronize a class of delayed neural networks in a finite time, where the mismatched parameters and neuron activation functions are taken into account. In the controller design, a sliding mode manifold is directly defined by the synchronization error, which greatly reduces the synchronization time. Its concise design process and its ability to synchronize...
The paper concerns the development of a adaptive sliding mode control based on super twisting (ASTW) and can be applied to a Human-Driven Knee Joint Orthosis. Therefore, a model of the shank-orthosis system is given considering the human effort as an external torque acting on the system. The main objective of this paper is to bring together two approaches to reduce the phenomenon of chattering, adaptation...
Three-degree-of-freedom trajectory tracking of the stratospheric airship is investigated. With a simplified planar dynamic model, an adaptive backstepping sliding mode controller is designed to keep the airship to globally asymptotically track a desired trajectory. Lyapunov functions are used to ensure the tracking performance when model parametric uncertainty and external disturbances exist. Simulation...
In this paper, the finite-time boundedness (FTB) problem of sliding mode control (SMC) is investigated for a class of switched delay systems subject to uncertain parameter and nonlinear perturbation. A SMC law is constructed to drive the state trajectories onto the integral sliding surface during a finite time interval. The FTB of the controlled systems on both reaching phase and siding motion phase...
There are usually large uncertainties in the aerodynamic parameters of Mars entry vehicles, which inevitably degrades the performance of entry guidance algorithms. The paper presents a backstepping sliding mode controller for drag tracking in Mars entry guidance, which can guarantee the tracking error with finite-time convergence. First, the drag can track the reference trajectory under the virtual...
This paper investigates the finite-time tracking problem for nonholonomic mobile robots despite of unknown system disturbances. In the proposed tracking control, a novel sliding mode controller is given at torques level such that both the position and the orientation tracking errors convergence to zero within finite time. In particular, by employing the adaptive method during the robot's moving process,...
This paper investigates the issue of fuzzy dynamic integral sliding-mode controllers for nonlinear descriptor systems based on Takagi-Sugeno (T-S) fuzzy models. A fuzzy dynamic integral sliding-mode control (DISMC) scheme is developed for the nonlinear descriptor systems to remove the restrictive assumption that all local models share a common input matrix, which is required in most existing fuzzy...
In order to intercept against the fixed, uniform and maneuvering target with a certain impact angle accurately, a circular navigation guidance method based on sliding mode control is proposed in this paper. According to the geometrical analysis of the circular trajectory in a two-dimensional plane, the conclusion that only if impact angle is given, two of any points on the guidance face have a unique...
The spatial filter is capable of splitting the original desired trajectory of the dual-stage actuator (DSA) into two segments with arbitrary range, controlled by a linear motor (LM) actuator and a piezoelectric actuator (PZT) microactuator, respectively. Backstepping nonsingular terminal sliding mode control law with error transformation is designed to allow the tracking error of the actuator to converge...
For the problem of sail-assisted ship prone to track deviation influenced by wind and other disturbances, a fuzzy adaptive iterative sliding mode control method is presented. The evaluation function is introduced into fuzzy control scheme to evaluate and adjust the designed parameters online. Under the proposed method, the estimation of the uncertain parameters and disturbances can be avoided, moreover,...
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