The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper proposes a non-singular fast terminal sliding mode (NFTSM) strategy for control of a general class of chaotic system in presence of parametric uncertainty and matched external disturbances. NFTSM uses a nonlinear switching function designed with the focus on achieving faster convergence rate of the system states towards stable equilibrium points without any singularity problems. Further,...
H∞ based sliding mode control has several advantage viz. fast response, robustness to parameter variation and disturbance rejection ability. Inverted pendulum qualifies as a benchmark system to test the suitability of controller design for under-actuated, nonlinear unstable system. In this context, H∞ based integral sliding mode controller is designed for inverted pendulum for stabilizing the system...
In this paper, sliding mode approach is used to deal with the robust control of flat systems. Model of flat systems with disturbance and parametric uncertainty is established. A scheme to design sliding mode control laws is proposed to guarantee the robustness of the systems. For the case that the bounds of disturbance and parametric uncertainty are unknown, adaptive controllers are designed to estimate...
The paper considers leader-follower consensus of multi-agent networks with unknown control direction. Sliding mode control is used to achieve consensus tracking under fixed topology with the assumption that the position of the leader is known to a subset of the followers. The proposed consensus law assumes unknown sign in the control input matrix of the followers and does not require the knowledge...
In this paper, the problem of robust tracking control is investigated. Simulation on the longitudinal model of a flexible air-breathing hypersonic vehicle (FAHV) with actuator saturation and uncertainties is conducted. In order to guarantee that the velocity and altitude to track their reference commands, an adaptive anti-up control strategy is presented based on sliding mode control method. The adaptive...
This paper presents a new adaptive sliding mode control (ASMC) scheme with uncertainty and disturbance estimation (UDE) technique dedicated to precise motion tracking control of a piezoelectrically actuated nanopositioning stage. Unlike the conventional SMC scheme based on a discontinuous control, a smooth control action is devised based on UDE method to eliminate the use of nonlinear switching action...
In this paper, a method of unmatched disturbance compensating integral sliding model predictive control for constrained linear discrete-time systems with bounded disturbances is presented. The basic idea is to shape a discrete-time integral sliding mode control into an optimal constrained control problem with model predictive control. By choosing another projection matrix in the integral sliding surface,...
A nonsingular terminal sliding mode control is proposed for position synchronization of multiple manipulator systems. A reaching law is developed to achieve the sliding phase. The proposed sliding mode is finite time stable at the equilibrium point. The stable region is given in the presence of system uncertainty and external disturbance. The simulation is demonstrated to validate the proposed approach.
For the chaotic systems of uncertain model, synchronization problem of the driver response system with unknown parameters and the interference were studied. Based on Lyapunov stability theory, by constructing Lyapunov function, using the sliding mode control method to design dynamic sliding mode surface and the adaptive sliding mode controller, simultaneously to estimation parameter aim to unknown...
This paper tackles the tracking control of flexible hypersonic vehicle (FHV) with mismatched uncertainties by utilizing the adaptive nested terminal sliding mode control method. The controllers of velocity loop and altitude loop are designed separately based on the control-oriented model which is obtained by simplification of the FHV model. It's noted that the previous sliding mode control is sensitive...
This paper studies the fixed-time stabilization problem for a class of second-order multivariable multi-input nonlinear systems with matched uncertainties. Different from the control design for scalar systems, a multivariable sliding mode control design, based on a set of nonlinear coupled sliding surfaces, is proposed to stabilize the system at the origin with a uniformly bounded settling time, i...
A robust consensus controller is proposed for heterogeneous higher order nonlinear multi-agent systems (MAS), when the agent dynamics are potentially affected by mismatched uncertainties. A distributed consensus protocol based on finite time disturbance observer(FTDO) and sliding mode control is designed to realize the network consensus of higher order MAS. The control law can be used to solve the...
For the decentralized formation problem of multiple robots, this paper presents a kind of robust sliding mode controller based on nonlinear disturbance observer. According to the leader-follower-based formation mechanism, the dynamic model with external disturbances and system uncertainties is established. To perform a formation control and to guarantee system robustness, a novel formation algorithm...
For the purpose of probe soft landing on small bodies safely, this paper focuses on improving convergence speed, decrease the chattering and process uncertainties and perturbations from the trajectory tracking control system. This paper presents improved Terminal sliding mode control based on active disturbance reject, which changes terminal sliding mode surface to the sliding mode hyper-surface and...
Here we discuss the sense of the classical notion “Sliding Mode Control” (SMS) in the case of stochastic external perturbations acting to the dynamic of a class of nonlinear systems together with deterministic bounded internal uncertainties and disturbances. The specific feature of such systems is that acting stochastic noise is unbounded (Gaussian white noise) and to talk about commonly accepted...
An output voltage regulation problem for single-phase DC-AC inverter system under external input voltage variations and load resistance uncertainties is investigated in this paper via a continuous nonsingular terminal sliding mode control (NTSMC) approach. Aiming to reject the effects of mismatched disturbances, the finite-time disturbance observer (FTDO) is introduced for disturbance estimations...
The paper presents an analysis of sliding mode control of discrete time systems with relative degree greater than one. The analysis leads us to obtain finite time stability of the output as well as the states of the system in absence of uncertainties, taking the output as the sliding variable. The simple equivalent control with state feedback guarantees this. In presence of uncertainties in the system...
The existing second-order sliding mode (SOSM) control methods can only be used to handle sliding mode control systems subject to matched disturbance. This paper proposes a novel SOSM control method, which allows the sliding mode control systems with mismatched disturbance. Such a control approach is intended to deal with the first derivative of the sliding variable characterized by a certain term...
This paper presents a new adaptive methodology for sliding mode control of a nonlinear dynamical system in the presence of unknown, but bounded uncertainties. A continuous control law is first developed to compensate for the uncertainties and this Lyapunov-based approach eliminates chattering by replacing a discontinuous signum function with a continuous function. By investigating the relation between...
In this paper, an alternative scheme to achieve output tracking for a class of uncertain systems which is designed using back-stepping control and sliding mode control (SMC) can provide exact tracking even in the presence of matched and unmatched disturbances. The newly proposed method is based on a nonlinear disturbance observer (NDOB) which can estimate the unmatched disturbance. Simulation verify...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.