Event-triggered sliding mode control for trajectory tracking of nonlinear systems

Mustafa, Aquib; Dhar, Narendra Kumar; Verma, Nishchal K.

doi:10.1109/jas.2019.1911654

Cited by 48 publications

(25 citation statements)

References 24 publications

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“…Taking derivative of ( 24) with respect to time and using (20), it can obtain 23) into (25), one achieves…”

Section: Adaptive Super-twisting Pid Sliding Mode Controlmentioning

confidence: 99%

“…In addition, in the second subsystem, the main goal of control is the balancing of pendulum to be stand up-right [17][18][19][20]. Therefore, some control methods including proportional-integral-derivative (PID), linear quadratic regulator (LQR), linear quadratic Gaussian (LQG), sliding mode control (SMC), adaptive control, fuzzy logic and neural network techniques have been applied for both stability and balancing control of RIP systems [21][22][23][24][25]. In [26], LOR and LQG methods based on the fuzzy logic control 1 Corresponding author: Saleh Mobayen (mobayens@yuntech.edu.tw) technique has been proposed aimed at stability control of double-RIP system under perturbation.…”

Section: Introductionmentioning

confidence: 99%

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Robust Adaptive Super-twisting Sliding Mode Stability Control for Underactuated Rotary Inverted Pendulum with Experimental Validation

Mofid

Alattas

Mobayen

2021

Preprint

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In this paper, an adaptive proportional-integral-derivative (PID) sliding mode control method combined with super-twisting algorithm is designed for the stabilization control of rotary inverted pendulum system in the appearance of exterior perturbation. The state-space model of rotary inverted pendulum in the presence of exterior disturbance is obtained. Then, the super-twisting PID sliding mode controller is designed for finite time stability control of this underactuated control system. The upper bounds of perturbation are presumed to be unknown; accordingly, the adaptive control procedure is taken to approximate the uncertain bound of the external disturbances. The stability control of rotary inverted pendulum system is proved by means of the Lyapunov stability theory. In order to validate accuracy and efficiency of the recommended control technique, some simulation outcomes are prepared and compared with other existing method. Moreover, experimental results are implemented to show the success of the proposed method.

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“…Taking derivative of ( 24) with respect to time and using (20), it can obtain 23) into (25), one achieves…”

Section: Adaptive Super-twisting Pid Sliding Mode Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust Adaptive Super-twisting Sliding Mode Stability Control for Underactuated Rotary Inverted Pendulum with Experimental Validation

Mofid

Alattas

Mobayen

2021

Preprint

View full text Add to dashboard Cite

show abstract

“…V˙t + ϑV t + ξV γ t ≤ 0, ∀t > t 0 (2) thus, V t converges to the equilibrium point in prescribed finite time [40]…”

Section: T Is a Continuous Positive Definite Function That Satisfiesmentioning

confidence: 99%

“…Sliding mode control (SMC) is one of the most popular controllers due to its unique characteristics for decreasing the tracking error of non‐linear systems with uncertainty and disturbance. Recently, variants of SMC, such as neural SMC [1], event‐triggered SMC [2], second‐order SMC [3], discrete‐time SMC [4], adaptive SMC [5], and integral SMC [6] have been successfully used for robust stabilisation of different systems. However, the basic SMC may not ensure the prescribed finite time convergence of the entire closed‐loop error signals to zero.…”

Section: Introductionmentioning

confidence: 99%

Adaptive prescribed‐time disturbance observer using nonsingular terminal sliding mode control: Extended Kalman filter and particle swarm optimization

Vahidi-Moghaddam

Rajaei

Ayati

et al. 2020

IET Control Theory & Appl

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In this study, adaptive prescribed finite-time stabilisation of uncertain single-input and single-output non-linear systems is considered in the presence of unknown states, unknown parameters, external load disturbance, and non-symmetric input saturation. A prescribed finite time disturbance observer is designed to approximate the unmeasured external disturbance. Also, a non-singular prescribed finite time terminal sliding mode control is proposed for the closed-loop control of the system with the non-symmetric input saturation. Extended Kalman filter algorithm is employed for the real-time estimations of the states and unknown parameters of the system. Moreover, a particle swarm optimisation algorithm is used to obtain the design parameters of the proposed disturbance observer and controller. To show the performance of designed control scheme, the proposed approach is employed to guarantee prescribed finite time stabilisation of non-linear vibration of a non-local strain gradient nanobeam. The Galerkin projection method is used to reduce the non-dimensional form of the governing non-linear partial differential equation of Euler-Bernoulli nanobeam to the ordinary differential equation. Finally, numerical simulations are performed to illustrate the effectiveness and performance of the developed adaptive control scheme for the vibration control of nanobeam in comparison with the conventional sliding mode control.

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“…When any SMC system keeps sliding on their sliding surfaces, it is insensitive to matched uncertainties as if there were no uncertainties. 24,25…”

Section: Introductionmentioning

confidence: 99%

Torque control of bolt tightening process through adaptive-gain second-order sliding mode

Zhang

et al. 2020

Measurement and Control

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Bolts constitute a very important subset of mechanical fasteners. In order to tighten bolts, a degree of bolt preload scatter is to be expected. Since the torque control of tightening bolts is the most popular means of controlling the preload, an appropriate tightening torque becomes pivotal. This paper investigates the torque control problem of bolt tightening process. This process is not as simple as it looks because the inherently nonlinear process contains many uncertainties. To conquer the adverse effects of the uncertainties, this paper designs an adaptive-gain second-order sliding mode controller. Theoretically, such design can guarantee that the bolt tightening process has the closed-loop stability in the sense of Lyapunov. From the aspect of practice, the control method is carried out by a platform. Some comparisons illustrate the feasibility and effectiveness of the designed controller.

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Event-triggered sliding mode control for trajectory tracking of nonlinear systems

Cited by 48 publications

References 24 publications

Robust Adaptive Super-twisting Sliding Mode Stability Control for Underactuated Rotary Inverted Pendulum with Experimental Validation

Robust Adaptive Super-twisting Sliding Mode Stability Control for Underactuated Rotary Inverted Pendulum with Experimental Validation

Adaptive prescribed‐time disturbance observer using nonsingular terminal sliding mode control: Extended Kalman filter and particle swarm optimization

Torque control of bolt tightening process through adaptive-gain second-order sliding mode

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