Finite-time sliding mode control synthesis under explicit output constraint

Song, Jun; Niu, Yugang; Zou, Yuanyuan

doi:10.1016/j.automatica.2015.11.037

Cited by 118 publications

(45 citation statements)

References 8 publications

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“…Finite-time tracking and stabilisation control for spacecraft systems were respectively investigated by Zhu et al (2011) and Lu and Xia (2013). Song, Niu, and Zou (2016) addressed the input-output finite-time stabilisation problem for a class of uncertain nonlinear systems by employing sliding mode control approach. In fact, the main difficulty for the finite-time control of uncertain nonlinear systems lies in the fact that it can not employ CONTACT Yuqiang Wu wyu@qfnu.edu.cn the inequalityV ≤ −cV α with c > 0, 0 < α < 1 directly.…”

Section: Introductionmentioning

confidence: 99%

RETRACTED ARTICLE: Finite-time tracking control for strict-feedback nonlinear systems with time-varying output constraints

2018

International Journal of Systems Science

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This paper focuses on the adaptive finite-time tracking control for a class of strict-feedback nonlinear systems with parametric uncertainties and time-varying output constraint. Novel backstepping control scheme combined with tuning function is proposed, which not only can assure that the finitetime convergence of system output tracking error into a small set around zero but also can guarantee that the time-varying output constraint is not violated. More precisely, a tan-type Barrier Lyapunov Function is proposed to ensure the boundedness of output tracking error and a new tuning function is constructed to eliminate the effect of uncertainties. Finally, two examples which including one numerical example and a single-link robot are provided to demonstrate that the proposed approach can achieve the desired performance and the time-varying output constraint is never breached.

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Section: Introductionmentioning

confidence: 99%

RETRACTED ARTICLE: Finite-time tracking control for strict-feedback nonlinear systems with time-varying output constraints

2018

International Journal of Systems Science

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“…Sliding mode control (SMC) is particularly well suited for situations where unknown non‐linearities affect the system, as in the case of USMs. In recent years, numerous results have been reported on the SMC for various complex dynamical systems (see, e.g., ). For underwater vehicles, in general, some important contributions are given in .…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking for Underwater Swimming Manipulators using a Super Twisting Algorithm

Borlaug

Gravdahl

Sverdrup-Thygeson

et al. 2018

Asian Journal of Control

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The underwater swimming manipulator (USM) is a snake-like, multi-articulated, underwater robot that is equipped with thrusters. One of the main purposes of the USM is to act like an underwater floating base manipulator. As such, it is essential to achieve good station-keeping and trajectory tracking performance for the USM by using the thrusters and by using the joints to attain the desired position and orientation of the head and tail of the USM. In this 'paper, we propose a sliding mode control (SMC) law, specifically the super-twisting algorithm with adaptive gains, for the trajectory tracking of the USM's centre of mass. A higher-order sliding mode observer is proposed for state estimation. Furthermore, we show the ultimate boundedness of the tracking errors. We demonstrate the applicability of the proposed control law and show that it leads to better performance than a linear PD-controller.

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“…On the other hand, sliding mode control (SMC), as an effective way to deal with the system uncertainties and external disturbances, has drawn considerable research attention in the past several decades [11][12][13][14][15][16][17][18][19][20]. By constructing a suitable controller, the state trajectories of the system are driven onto a predefined sliding mode surface, Manuscript on which the designed property or transient performance of the closed-loop system will be guaranteed [21].…”

Section: Introductionmentioning

confidence: 99%

Robust Control of Discrete‐time Singular Systems via Integral Sliding Surface

Bai

et al. 2017

Asian Journal of Control

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In this paper, the sliding mode control for a class of uncertain discrete-time singular system with H ∞ performance constraint is studied. By taking the singular matrix E into consideration, a new type of integral sliding mode surface is firstly introduced, based on which a sufficient condition is derived to guarantee the sliding mode dynamics admissible with a given -level disturbance attenuation of the unmatched disturbance. A controller law is also given to keep the system trajectory staying in a neighborhood of the ideal sliding surface. Finally, a numerical example is given to show the effectiveness of the proposed approach.

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Finite-time sliding mode control synthesis under explicit output constraint

Cited by 118 publications

References 8 publications

RETRACTED ARTICLE: Finite-time tracking control for strict-feedback nonlinear systems with time-varying output constraints

RETRACTED ARTICLE: Finite-time tracking control for strict-feedback nonlinear systems with time-varying output constraints

Trajectory Tracking for Underwater Swimming Manipulators using a Super Twisting Algorithm

Robust Control of Discrete‐time Singular Systems via Integral Sliding Surface

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