Adaptive Fixed-Time Control for the Postcapture Tethered Spacecraft With Full-State Constraints

Shen, Ganghui; Huang, Panfeng; Zhang, Fan; Ma, Zhiqiang; Xia, Yuanqing

doi:10.1109/taes.2022.3219804

Cited by 8 publications

(5 citation statements)

References 49 publications

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“…Thus, the problem in dealing with convergence time in clause 2 of Section 1 is resolved using the proposed sliding surface (13). Also, the system has finite-time asymptotic stability based on ( 16) and (17).…”

Section: Non-singular Fast Terminal Sliding Surfacesmentioning

confidence: 99%

“…One of the issues in industrial applications is the tracking error convergence time. It can be seen that in (17), 𝛼, 𝛽 and 𝛾 can be used to reduce this time. Although the increase of 𝛼 reduces the time, it is accompanied by spending more control input.…”

Section: Fuzzy Sliding Surfacementioning

confidence: 99%

“…Similarly, the fuzzy logic can be used to approximate 𝛾, based on the tracking error's values such that if the tracking error was high, 𝛾 would have its maximum value and otherwise it would reach the lowest possible. In (17), it can be seen that if 𝛾 = 1, then T s = ∞. Thus, its values should be 1 < 𝛾 i < 2 for singularity avoidance.…”

Section: Fuzzy Sliding Surfacementioning

confidence: 99%

“…The next issue is the RLFJM's under‐actuated dynamic. Although some papers presented solutions for trajectory tracking [17, 18], they cannot be generalized to control of underactuated systems such as the flexible joint robotic systems. To solve this problem, two control methods, including hierarchical sliding mode control (HSMC) [19] and incremental sliding mode control (ISMC) [20], are proposed.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

A new fuzzy decoupled sliding mode control of flexible joint robotic manipulators based on the finite‐time observer in the presence of chaos with experimental validation

Nezhad,

Noiey,

Soltanpour

et al. 2023

IET Control Theory & Appl

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This paper presents a new fuzzy non‐singular fast terminal decoupled sliding mode control based on the finite‐time extended state observer for trajectory tracking control of flexible joint robot manipulators under chaos and uncertainty. First, a suitable chaotic reference is used in a synchronization mechanism to create chaos in the dynamics. Then, the essential modifications made to the conventional decoupled sliding mode control are introduced. A new coupling variable and a non‐singular fast terminal sliding surface are proposed in combination with an extended state observer. A complete convergence analysis is also performed for all the sliding surfaces. Furthermore, two fuzzy systems are designed in such a way that not only they can eliminate the chattering phenomenon but can also improve the convergence time without increasing the control input in a voltage‐based manner. The mathematical proof guarantees the finite‐time asymptotic stability of the closed‐loop control system under the proposed scheme for a class of under‐actuated systems in the presence of structured and un‐structured uncertainties. Finally, some simulations and experimental implementations as hardware‐in‐the‐loop are performed to evaluate the proposed method's performance. The proposed controller is an effective method, as confirmed by the numerical simulation results and experimental validation.

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Section: Non-singular Fast Terminal Sliding Surfacesmentioning

confidence: 99%

Section: Fuzzy Sliding Surfacementioning

confidence: 99%

Section: Fuzzy Sliding Surfacementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A new fuzzy decoupled sliding mode control of flexible joint robotic manipulators based on the finite‐time observer in the presence of chaos with experimental validation

Nezhad,

Noiey,

Soltanpour

et al. 2023

IET Control Theory & Appl

View full text Add to dashboard Cite

show abstract

“…DSC avoids the "explosion of complexity" phenomenon and relaxes the smoothness requirement on dynamic functions and reference signals. The effectiveness of DSC has been increasingly demonstrated in various challenging applications, such as spacecraft control [5], aircraft landing control [6], aircraft overspeed maneuver control [7], quadrotor attitude control [8][9][10], morphing aircraft control [11], and containment control of multiple quadrotors [12][13][14]. However, the DSC controller has a singular issue, that is because, due to the presence of an FOF tracking error, DSC loses its asymptotic stabilization property, i.e., the state error can only converge to a bounded interval near the origin, thus resulting in low robustness and high sensitivity to the system parameter variations.…”

Section: Introductionmentioning

confidence: 99%

Robust Control for Underactuated Fixed-Wing Unmanned Aerial Vehicles

Wang,

Zhang,

Chen

2024

Mathematics

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Dynamic surface control (DSC) is a recognized nonlinear control approach for high-order systems. However, as the complexity of the system increases and the first-order filter (FOF) is introduced, there exists a singularity problem, i.e., the control input will reach infinity. This limits the application of the DSC algorithm to a class of real-world systems with complex dynamics. To address the problem of singularity, we present a novel DSC approach called nonsingular dynamic surface control (NDSC), which completely avoids the singularity problem and significantly improves the overall control performance. NDSC includes a nonsingular hypersurface, which is constructed by the error between system states and virtual control inputs. Then the nonsingular hypersurface will be applied to derive the corresponding control law with the aid of the DSC approach to ensure the output of the system can track arbitrary desired trajectories. NDSC has the following novel features: (1) finite time asymptotic stabilization can be guaranteed; (2) the performance of NDSC is insensitive to the FOF’s parameter variation once the maximum tracking error of FOF is bounded, which significantly reduces reliance on the control sampling frequency. We thoroughly evaluate the proposed NDSC algorithm in an unmanned aerial vehicle (UAV) system with an underactuated nature. Finally, the simulation results illustrate and highlight the effectiveness and superiority of the proposed control algorithm.

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Event-triggered based predefined-time tracking control for robotic manipulators with state and input quantization

Jiang,

Yan,

et al. 2024

Nonlinear Dyn

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Adaptive Fixed-Time Control for the Postcapture Tethered Spacecraft With Full-State Constraints

Cited by 8 publications

References 49 publications

A new fuzzy decoupled sliding mode control of flexible joint robotic manipulators based on the finite‐time observer in the presence of chaos with experimental validation

A new fuzzy decoupled sliding mode control of flexible joint robotic manipulators based on the finite‐time observer in the presence of chaos with experimental validation

Robust Control for Underactuated Fixed-Wing Unmanned Aerial Vehicles

Event-triggered based predefined-time tracking control for robotic manipulators with state and input quantization

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