Adaptive Global Terminal Sliding Mode Control Scheme with Improved Dynamic Surface for Uncertain Nonlinear Systems

Mobayen, Saleh

doi:10.1007/s12555-017-0473-8

Cited by 83 publications

(38 citation statements)

References 59 publications

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“…Theorem 1. Consider the general class of MIMO nonlinear systems expressed in (5), the IT2-AFSs presented in (6) and the adaptation laws given in (13). Then, the control law defined in (11), it guarantees the stability of the closed loop system and ensures the desired tracking performance despite approximation errors, unknown disturbances and unknown dynamics Proof 1.…”

Section: Tracking Control Design Methodsmentioning

confidence: 99%

“…wherêˆˆˆˆ 1(2) ( ) (5), the IT2-AFSs described by equations (6) and (21), and the adaptation laws given by equations (13) and (24), then, the global control law presented by equation (23) ensures the stability of the closed loop system with the best tracking performance while avoiding the chattering, despite all the constraints that influence the control system, such as unknown dynamics, approximation errors and unknown disturbances.…”

Section: Interval Type-2 Adaptive Fuzzy Super Twistingmentioning

confidence: 99%

“…Therefore, in recent decades, several sophisticated control approaches have been developed for controlling such complex processes. Among them, those using fuzzy systems (FSs), adaptive control and sliding mode control (SMC) have been credited in many different real applications as effective and robust methods of control [1][2][3][4][5][6][7][8].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Design of a robust interval type-2 fuzzy adaptive super twisting control for a given class of disturbed MIMO nonlinear systems

Nafia¹,

El²,

Ayyad³

et al. 2020

FME Transactions

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This study deals with the tracking control problem of a large class of multi input multi output (MIMO) nonlinear systems with unknown dynamics and subject to unknown disturbances. First, two interval type-2 adaptive fuzzy systems (IT2-AFSs) are constructed to efficiently estimate the unknown nonlinear dynamics. Then, based on IT2-AFSs and super-twisting algorithm (STA), a new robust adaptive fuzzy-reaching STC law (AF-RSTCL) has been added to the global control law to improve the robustness of the studied systems in the presence of approximation errors and unknown disturbances. In order to avoid the chattering phenomenon and guarantee simultaneously the best tracking performance, the gains of the designed AF-RSTCL are optimally online estimated. The adaptive parameters of the global synthesized control law are deduced from the stability analysis in the sense of Lyapunov. Finally, an example of simulation is used to confirm the effectiveness of the developed method in achieving the predetermined objectives of the tracking control.

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Section: Tracking Control Design Methodsmentioning

confidence: 99%

Section: Interval Type-2 Adaptive Fuzzy Super Twistingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design of a robust interval type-2 fuzzy adaptive super twisting control for a given class of disturbed MIMO nonlinear systems

Nafia¹,

El²,

Ayyad³

et al. 2020

FME Transactions

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show abstract

“…To overcome the weaknesses of the existing NFTSMCs [30], [31] and achieve the fixed-time speed tracking control for the PMSM system, we proposed time-dependent global nonsingular fixed-time terminal sliding mode control (GN-FTSMC) in this paper. First, motivated by the global sliding surface concept [32], we present a time-dependent terminal sliding surface by combing a time-dependent function and a traditional fast terminal sliding surface [18]. Second, a piecewise continuous control law is developed according to the equivalent control method.…”

Section: Introductionmentioning

confidence: 99%

Time-Dependent Global Nonsingular Fixed-Time Terminal Sliding Mode Control-Based Speed Tracking of Permanent Magnet Synchronous Motor

Wang

2020

IEEE Access

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This paper studies global nonsingular fixed-time terminal sliding mode control (GNFTSMC) for a second-order uncertain permanent magnet synchronous motor (PMSM) system to further improve its speed tracking performance. The newly proposed GNFTSMC consists of a time-dependent terminal sliding surface and a piecewise continuous sliding mode control law. By a time-dependent function constructed from the initial conditions of the system and a predefined time, the sliding surface is always reached at the initial instant and forced to a traditional fast terminal sliding surface after the predefined time. Based on Filippov's stability principles, the globally fixed-time stability of the GNFTSMC is proved. Furthermore, a priori time independent of the initial conditions is derived to estimate the boundary of the settling time of the closed control loop. Then, the control law is analyzed to be always nonsingular. Thus, the GNFTSMC-based speed controller for the PMSM speed tracking system is developed. Finally, simulations are conducted for the proposed controller and other terminal sliding mode controllers. The results show that compared to the other controllers, the PMSM system based on GNFTSMC displays improved performance characteristics of faster speed response, smaller chattering and higher current efficiency. INDEX TERMS fixed time, global sliding mode, permanent magnet synchronous motor, sliding mode control, terminal sliding mode

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“…The design of trajectory tracking controllers has important usages in mechanical systems with electrical, pneumatic, or hydraulic actuators [1]- [4]. In the past decades, several robust control techniques have been established for the tracking control of uncertain mechanical systems such as sliding mode control [5]- [7], fuzzy control [8]- [10], adaptive control [11], [12], PID control [13]- [16], among others. Each controller design has its advantages, and disadvantages such as discontinuous controllers under certain conditions are robust against uncertainties and perturbations.…”

Section: Introductionmentioning

confidence: 99%

Robust Continuous Control for a Class of Mechanical Systems Based on Nonsingular Terminal Sliding Mode

2020

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In this paper is proposed a control structure for a class of mechanical systems; this structure consists of a continuous controller based on nonsingular terminal sliding mode control plus uncertainty and disturbance estimator. Closed-loop stability is proved by designing an adequate sliding surface and showing the existence of sliding modes by the fulfillment of the reaching law. A controllers comparison using the nonsingular terminal sliding mode, first-order sliding mode, PID, and the proposed control structure is carried out through numerical simulations of a pendulum system, where the l 2 index is used to measure the performance of the controllers. Moreover, real-time experiments are performed in a mechanical system with a pneumatic actuator. The theoretical, numerical, and experimental results validate the feasibility, performance, and robustness of the proposed control structure. INDEX TERMS Mechanical systems, nonsingular terminal sliding mode control, robust control, uncertainty and disturbance estimator.

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Adaptive Global Terminal Sliding Mode Control Scheme with Improved Dynamic Surface for Uncertain Nonlinear Systems

Cited by 83 publications

References 59 publications

Design of a robust interval type-2 fuzzy adaptive super twisting control for a given class of disturbed MIMO nonlinear systems

Design of a robust interval type-2 fuzzy adaptive super twisting control for a given class of disturbed MIMO nonlinear systems

Time-Dependent Global Nonsingular Fixed-Time Terminal Sliding Mode Control-Based Speed Tracking of Permanent Magnet Synchronous Motor

Robust Continuous Control for a Class of Mechanical Systems Based on Nonsingular Terminal Sliding Mode

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