Adaptive Nonsingular Integral-type Second Order Terminal Sliding Mode Tracking Controller for Uncertain Nonlinear Systems

Mobayen, Saleh; Karami, Hamede; Fekih, Afef

doi:10.1007/s12555-020-0255-6

Cited by 16 publications

(11 citation statements)

References 40 publications

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“…The integral sliding mode surface therein was designed based on the homogeneous method. Unlike the terminal sliding mode surface in 25–52 and the homogeneous integral sliding mode surface in Ref. [53–57], a novel integral sliding mode surface is designed in this paper by utilizing the adding a power integrator technique.…”

Section: Control Design and Stability Analysismentioning

confidence: 99%

“…Sun and Liu 51 designed an extended state observer augmented nonsingular terminal sliding mode controller for the finite-time tracking control of uncertain mechanical systems. Mobayen et al 52 synthesized an adaptive nonsingular integral-type second order terminal sliding mode control for the finite-time tracking control of uncertain nonlinear systems.…”

Section: Introductionmentioning

confidence: 99%

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Novel finite-time adaptive sliding mode tracking control for disturbed mechanical systems

Yao

Jahanshahi

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, the finite-time tracking control problem of mechanical systems subject to model uncertainties and external disturbances is investigated. A new type of finite-time adaptive sliding mode control approach is proposed based on a novel integral sliding mode surface and a novel parametric adaptation mechanism. The integral sliding mode surface is originally designed by utilizing the adding a power integrator technique. The parametric adaptation mechanism is developed by using a single adaptive updating law to estimate the square of the upper bound of the lumped uncertain term. As compared with the most existing studies, the distinctive features of the proposed controller are threefold. (1) Benefiting from the novel integral sliding mode surface, the proposed controller has no singularity problem inherently existing in the terminal sliding mode control. (2) Owing to the use of novel parametric adaptation mechanism, the proposed controller is smooth and the unexpected chattering phenomenon is significantly attenuated. Moreover, the proposed controller is structurally simple and requires relatively few online calculations, which makes it affordable for practical applications. (3) The practical finite-time stability of the overall closed-loop system is strictly proved. The proposed controller can ensure the position and velocity tracking errors stabilize to the adjustable small neighborhoods around the origin in finite time. Lastly, the effectiveness and advantages of the proposed control approach are illustrated through simulations and comparisons.

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Section: Control Design and Stability Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Novel finite-time adaptive sliding mode tracking control for disturbed mechanical systems

Yao

Jahanshahi

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…For the second-order nonlinear system (24), the control law in this subsection is designed as follows:…”

Section: International Journal Of Computer Games Technologymentioning

confidence: 99%

Trajectory Tracking of Autonomous Ground Vehicles with Actuator Dead Zones

Zhang

Chen

Yang

2021

International Journal of Computer Games Technology

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This paper investigates the trajectory tracking problem of autonomous ground vehicles (AGVs). The dynamics considered feature external disturbances, model uncertainties, and actuator dead zones. First, a novel time-varying yaw guidance law is proposed based on the line of sight method. By a state transformation, the AGV is proved to realize trajectory tracking control under the premise of eliminating guidance deviation. Second, a fixed time dead zone compensation control method is introduced to ensure the yaw angle tracking of the presented guidance. Furthermore, an improved fixed-time disturbance observer is proposed to compensate for the influence of the actuator dead zone on disturbance observation. Finally, the trajectory tracking control strategy is designed, and simulation comparison shows the effectiveness of the compensate method. The CarSim–MATLAB cosimulation shows that the proposed control strategy effectively makes the AGV follow the reference trajectory.

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“…Many control techniques have been used to overcome these problems [31,32]. Nonsingular integral-type control law is an efficient and optimal method that is designed based on nonlinear models and can create features such as the reduction of stress in actuators, elimination of chattering effects, convergence of finite-time, and high resistance to uncertainty [33,34].…”

Section: Introduction 1background and Motivationmentioning

confidence: 99%

Nonsingular Integral-Type Dynamic Finite-Time Synchronization for Hyper-Chaotic Systems

Alattas

Mostafaee

Sambas³

et al. 2021

Mathematics

Self Cite

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In this study, the synchronization problem of chaotic systems using integral-type sliding mode control for a category of hyper-chaotic systems is considered. The proposed control method can be used for an extensive range of identical/non-identical master-slave structures. Then, an integral-type dynamic sliding mode control scheme is planned to synchronize the hyper-chaotic systems. Using the Lyapunov stability theorem, the recommended control procedure guarantees that the master-slave hyper-chaotic systems are synchronized in the existence of uncertainty as quickly as possible. Next, in order to prove the new proposed controller, the master-slave synchronization goal is addressed by using a new six-dimensional hyper-chaotic system. It is exposed that the synchronization errors are completely compensated for by the new control scheme which has a better response compared to a similar controller. The analog electronic circuit of the new hyper-chaotic system using MultiSIM is provided. Finally, all simulation results are provided using MATLAB/Simulink software to confirm the success of the planned control method.

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Adaptive Nonsingular Integral-type Second Order Terminal Sliding Mode Tracking Controller for Uncertain Nonlinear Systems

Cited by 16 publications

References 40 publications

Novel finite-time adaptive sliding mode tracking control for disturbed mechanical systems

Novel finite-time adaptive sliding mode tracking control for disturbed mechanical systems

Trajectory Tracking of Autonomous Ground Vehicles with Actuator Dead Zones

Nonsingular Integral-Type Dynamic Finite-Time Synchronization for Hyper-Chaotic Systems

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