Finite-time tracking control of n th-order chained-form non-holonomic systems in the presence of disturbances

Bayat, Farhad; Mobayen, Saleh; Javadi, Shamsi

doi:10.1016/j.isatra.2016.02.023

Cited by 73 publications

(38 citation statements)

References 26 publications

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“…The results of Brockett (1983) certainly triggered the interest of the research community on different stabilization and tracking control problems for nonholonomic systems and, in accordance with Lizárraga (2004), available results apply either to the set-point control problem -see e.g. Astolfi (1996); Bayat, Mobayen, and Javadi (2016), to the so-called parking control problem -see e.g. Lee, Song, Lee, and Teng (2001); Morin and Samson (2003), or to other kinds of restricted time-varying trajectoriessee e.g.…”

Section: Introductionmentioning

confidence: 97%

A unique robust controller for tracking and stabilisation of non-holonomic vehicles

Maghenem

Lorı́a

Panteley

2018

International Journal of Control

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After (Lizárraga, 2004) it is known that for nonholonomic systems it is impossible to design a universal controller able to asymptotically stabilize any feasible reference trajectory. In this paper we present a smooth time-varying controller able to stabilize a wide class of reference trajectories that include converging (parking problem) and persistently exciting (tracking problem) ones, as well as set-points. To the best of our knowledge, for the first time in the literature, we establish uniform global asymptotic stability for the origin of the closed-loop system in the kinematics state space. We also show that the kinematics controller renders the system robust to perturbations in the sense of integral-input-to-state stability. Then, we show that for the case in which the velocity dynamics equations are also considered (full model), any velocity-tracking controller with the property that the error velocities are square integrable may be used to ensure global tracking or stabilization. This modularity and robustness of our controller, added to the strength of our stability statements, renders possible the extension of our main results to the difficult scenario of control under parametric uncertainty.

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Section: Introductionmentioning

confidence: 97%

A unique robust controller for tracking and stabilisation of non-holonomic vehicles

Maghenem

Lorı́a

Panteley

2018

International Journal of Control

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“…Other learning rules were applied to the nominal input gain matrix of the TD estimation [30]- [31] or focused on the driving gains [28] for minimizing the control errors. Various versions of the sliding-mode control (SMC) policies associated with robust-gain estimation or disturbance observers were successfully applied to mechatronic systems [32][33]. Flexibility of the controller operation has been improved but the terminal or supertwisting SMC schemes provided excellent control performances only in mall-attraction regions around the origin.…”

Section: Introductionmentioning

confidence: 99%

A Nonlinear Sliding Mode Controller of Serial Robot Manipulators With Two-Level Gain-Learning Ability

Bae

2020

IEEE Access

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This paper presents a learning robust controller for high-quality position tracking control of robot manipulators. A basic time-delay estimator is adopted to effectively approximate the system dynamics. A low-level control layer is structured from the control error as an indirect control objective using new nonlinear sliding-mode synthetization. To realize the control objective with desired transient time, a robust sliding mode control signal is then designed based on the obtained estimation results in a high-level control layer. To promptly suppress unpredictable disturbances, adaptation ability is integrated to the controller using two-level gain-learning laws. Reaching gains and sliding gain are automatically tuned for asymptotic control performance. Effectiveness of the designed controller is concretely confirmed by the Lyapunov-based stability criterion, comparative simulations, and real-time experiments. INDEX TERMS manipulators, gain adaptive control, nonlinear sliding mode, position control, robust adaptive control, time-delay estimation.

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“…To this aim, an integral sliding mode control method combined with an inverse optimal controller was designed using Sontag-type formula to achieve robust asymptotic convergence to the desired position and attitude. Recently, finite-time SMC approaches have been developed and applied to different practical applications such as mobile robots and satellite attitude tracking problems which guarantees the finite-time stability and convergence (see, e.g., [23][24][25]). In [23] a finite-time controller is proposed and shown that the desired attitude can be tracked in finite time only in the absence of disturbances while it is verified that in the presence of external disturbances the tracking errors can only reach a region around the origin in finite time.…”

Section: Introductionmentioning

confidence: 99%

Two‐Layer Terminal Sliding Mode Attitude Control of Satellites Equipped with Reaction Wheels

Bayat

Javaheri

2018

Asian Journal of Control

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This paper addresses the global stability and robust attitude tracking problem of a near polar orbit satellite subject to unknown disturbances and uncertainties. It is assumed that the satellite is fully actuated by a set of reaction wheels (RW) as control actuators because of their relative simplicity, versatility and high accuracy. The terminal sliding mode control (TSMC) approach is utilized in a two-level architecture to achieve control objectives. In the lower layer a detumbling-like controller is designed which guarantees the finite-time detumbling and tracking of the desired angular velocities and based on this result a robust attitude tracking controller is designed in the upper layer to achieve 3-axis attitude tracking in the presence of unknown disturbances and bounded uncertainties. Robust stability and tracking properties of designed controllers are proved using the Lyapunov theory. Finally, a set of numerical simulation results are provided to illustrate the effectiveness and performance of the proposed control method.

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Finite-time tracking control of n th-order chained-form non-holonomic systems in the presence of disturbances

Cited by 73 publications

References 26 publications

A unique robust controller for tracking and stabilisation of non-holonomic vehicles

A unique robust controller for tracking and stabilisation of non-holonomic vehicles

A Nonlinear Sliding Mode Controller of Serial Robot Manipulators With Two-Level Gain-Learning Ability

Two‐Layer Terminal Sliding Mode Attitude Control of Satellites Equipped with Reaction Wheels

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