Finite-time asynchronous sliding mode control for Markovian jump systems

This paper studies the problem of adaptive fuzzy proportional-integral (PI) tracking control for a class of switched nonlinear systems with dead-zone input, unknown nonlinear functions and external disturbances. By using backstepping method with fuzzy logic systems, a set of adaptive fuzzy PI tracking controllers are proposed, which have a simple structure and a clear physical meaning. The designed controllers don't need priori information of dead-zone input via introducing Nussbaum function scheme. To enhance the tracking performance, the prescribed performance technique is utilized to constrain the tracking error. The stability analysis of the closed-loop switched systems is established via common Lyapunov function, and the tracking error remains within a prescribed bound and all signals of the closed-loop system are bounded. Finally, the effectiveness of the scheme is verified by two examples.

Section: Discussionmentioning

confidence: 99%

Adaptive Fuzzy PI Prescribed Performance Tracking Control for Switched Nonlinear Systems With Dead-Zone Input and External Disturbances

Sun

Hou

2020

“…Remark 7: Although the finite-time asynchronous SMC scheme for MJSs in [30], the SMC problem OSL nonlinear Markovian jump systems has not been fully investigated. The transition rates and unmatched uncertainties are important factors affecting the control performance.…”

Section: Volume 4 2016mentioning

confidence: 99%

Sliding Mode Control of One-Sided Lipschitz Nonlinear Markovian Jump Systems With Partially Unknown Transition Rates

Sun

Ren

et al. 2020

This paper investigates the problem of sliding mode control (SMC) for one-sided Lipschitz (OSL) nonlinear Markovian jump systems with partially unknown transition rates. Unmatched normbounded uncertainties of state matrices and output matrices are considered. First, a suitable integral-type sliding surface is proposed and a sufficient condition is given such that the sliding mode dynamics is stochastically stable with an H ∞ performance level γ. Next, a SMC law is synthesized such that reachability of the specified sliding surface can be ensured. Finally, two simulation examples are provided to prove the effectiveness of the proposed approach. INDEX TERMS Markovian jump systems, partially unknown transition rates, sliding mode control, onesided Lipschitz.

“…Therefore, the performance of the bottom-following control does not satisfy in presence of non-accurate models and input saturation, based on the above-mentioned control strategies. Sliding mode control is widely applied to solve the problem of controller-design for various nonlinear systems, which can deal with control problems under model uncertainties, disturbances and so on [30][31][32]. Therefore, SMC-class controllers are also widely used for the motion control of underactuated UUVs.…”

Section: Introductionmentioning

confidence: 99%

Bottom-Following Control of Underactuated Unmanned Undersea Vehicles With Input Saturation

Guo

Han

et al. 2020

This article addresses the subject for bottom-following control of underactuated unmanned undersea vehicles (UUVs) with input saturation in the presence of unknown model uncertainties and unknown external disturbances. A robust adaptive dynamic surface bottom-following control scheme is developed based on the recursive sliding mode with nonlinear gains and neural networks, which can steer an underactuated UUV to precisely follow the bottom profile at a constant altitude as a basic feature. The bottom-following guidance law is derived based on the Serret-Frenet frame, the line of sight (LOS) and Lyapunov's direct technique. Then, the bottom-following controller is designed based on the recursive sliding mode and dynamic surface control (DSC), to stabilize the bottom-following errors. The radial basis function neural networks (RBF NNs) are employed to online approximate the uncertain dynamics of underactuated UUVs, while the adaptive laws are introduced to estimate the bounds of the RBF NN approximation errors and unknown environmental disturbances. Additionally, an auxiliary dynamic system (ADS) is presented to handle the effect of input saturation. The uniform boundedness of all the closed-loop signals is guaranteed via Lyapunov analysis. The simulation results are presented to verify and illustrate the effectiveness of the proposed control scheme. INDEX TERMS Underactuated unmanned undersea vehicle, bottom-following, recursive sliding mode, input saturation, model uncertainties