Barrier function-based adaptive higher order sliding mode controllers

Laghrouche, Salah; Harmouche, Mohamed; Chitour, Yacine; Obeid, Hussein; Fridman, Leonid

doi:10.1016/j.automatica.2020.109355

Cited by 65 publications

(50 citation statements)

References 29 publications

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“…Now, consider the case η(t) < η 1 ,V 2 will be sign indefinite and η(t) may leave for η 1 . Similar to the treatment in [25][26][27], [35],V 2 ≤ 0 and V 2 will be constant or decreasing again once η(t) reaches η 1 , which means that |η(t)| ≤ η 1 holds for the rest of time.…”

Section: Stability Analysismentioning

confidence: 84%

Saturated adaptive barrier sliding mode control with state‐dependent uncertainty limit

Liu

et al. 2021

IET Control Theory & Appl

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This paper proposed a saturated adaptive barrier sliding mode control (SABSMC) for disturbed systems with parameter uncertainty, external disturbance, and input saturation. One distinctive feature of the proposed method is that even under the influence of input saturation, it is able to drive the system trajectory into a prespecified neighbourhood of the sliding surface, independent of the upper limit of lumped disturbance. Moreover, attributing to the designed adaptive laws, the switching gain of the proposed method can be adaptively adjusted in a wise manner. Another attractive feature of the proposed method is that it removes any presumption of constant upper limit on the lumped disturbance. Instead, SABSMC utilises a more rational state-dependent upper limit assumption. The system dynamics of the closed-loop system is analysed via the Lyapunov method in the presence of parameter uncertainty, external disturbance, and input saturation. The effectiveness of the proposed method is confirmed through numerical simulations.

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Section: Stability Analysismentioning

confidence: 84%

Saturated adaptive barrier sliding mode control with state‐dependent uncertainty limit

Liu

et al. 2021

IET Control Theory & Appl

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“…In [53], the Integral Sliding Mode Control (ISMC) and ADRC were combined to control the effects of wind disturbance on quadrotors, but the uncertainty and input saturation are not modeled in system and the chattering effects are obvious in the results. In [54], an adaptive HOSMC is designed for stabilization of the nonlinear systems with unknown bounded uncertainty, it can ensure the finite time stability, but some other important system constrains have not been considered in this paper. In [55], as the most related research to our work, a Fast Terminal Sliding Mode Control (FTSMC) procedure based on ADRC is designed to control a lower limb exoskeleton in swing phase, where it had good performance in comparison with PID and ADRC in the experimental results.…”

Section: Literature Reviewmentioning

confidence: 99%

Adaptive Integral-Type Terminal Sliding Mode Tracker Based on Active Disturbance Rejection for Uncertain Nonlinear Robotic Systems With Input Saturation

Karami

Alattas

Mobayen³

et al. 2021

IEEE Access

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This paper proposes an adaptive integral-type terminal sliding mode tracking control approach based on the active disturbance rejection for uncertain nonlinear systems subject to input saturation and external disturbances. Its main objective is to achieve zero tracking error in the presence of external disturbances, parametric uncertainties and input saturation; ubiquitous problems in most practical engineering systems. The proposed approach combines the robustness and chattering-free dynamics of adaptive integraltype sliding mode control with the estimation properties of a nonlinear extended state observer. It also assumes the bounds of the input saturation to be unknown. The asymptotic stability of the closed-loop system in the presence of disturbances, uncertainties and input saturation is proven using the Lyapunov theorem. The effectiveness of the proposed approach is assessed using a flexible-link robotic manipulator. The obtained results confirmed the robustness and god tracking performance of the proposed approach. Robustness, chattering-free dynamics and good tracking performance albeit input saturation are among the main features INDEX TERMS Active disturbance rejection; nonlinear system; terminal sliding mode control; input saturation; flexible-link manipulator.

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“…Email addresses: cdiegoca89@gmail.com (Christopher D. Cruz-Ancona), lfridman@unam.mx (Leonid Fridman), hussein.obeid@univ-fcomte.fr (Hussein Obeid), salah.laghrouche@utbm.fr (Salah Laghrouche). 1 Corresponding author ing some NSS while fixing [12,8] or reducing [17,16] the gains; or by ensuring a predefined NSS that will never be exceeded via barrier [13,14,11] and monitoring [7,15] functions based gains. Their common characteristic relies on (monotonically) increasing the controller's gain to solve (i).…”

Section: Whether All Approaches Above Accomplish (Ii) By Keep-mentioning

confidence: 99%

A uniform reaching phase strategy in adaptive sliding mode control

Cruz-Ancona¹,

Obeid²,

Laghrouche³

2021

Preprint

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In adaptive sliding mode control methods, an updating gain strategy associated with finite-time convergence to the sliding set is essential to deal with matched bounded perturbations with unknown upper-bound. However, the estimation of the finite time of any adaptive design is a complicated task since it depends not only on the upper-bound of unknown perturbation but also on the size of initial conditions. This brief proposes a uniform adaptive reaching phase strategy (ARPS) within a predefined reaching-time. Moreover, as a case of study, the barrier function approach is extended for perturbed MIMO systems with uncertain control matrix. The usage of proposed ARPS in the MIMO case solves simultaneously two issues: giving a uniform reaching phase with a predefined reaching-time and adapting to the perturbation norm while in a predefined vicinity of the sliding manifold.

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Barrier function-based adaptive higher order sliding mode controllers

Cited by 65 publications

References 29 publications

Saturated adaptive barrier sliding mode control with state‐dependent uncertainty limit

Saturated adaptive barrier sliding mode control with state‐dependent uncertainty limit

Adaptive Integral-Type Terminal Sliding Mode Tracker Based on Active Disturbance Rejection for Uncertain Nonlinear Robotic Systems With Input Saturation

A uniform reaching phase strategy in adaptive sliding mode control

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