Fixed time terminal sliding mode trajectory tracking design for a class of nonlinear dynamical model of air cushion vehicle

Karami, Hamede; Ghasemi, Reza

doi:10.1007/s42452-019-1866-5

Cited by 8 publications

(2 citation statements)

References 38 publications

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“…Sliding mode control (SMC) is among the most effective robust control technique for nonlinear systems with uncertainties and external disturbances [22]. It offers advantages such as good tracking performance, fast response, robustness against external disturbances and uncertainties, and suitable transient response [23][24][25]. However, a major drawback of this approach are the high-frequency finite amplitude oscillations or chattering phenomena [26].…”

Section: Background and Motivationmentioning

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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Section: Background and Motivationmentioning

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

Self Cite

View full text Add to dashboard Cite

show abstract

“…In order to overcome the limitations of linear control methods, more and more researchers have begun to devote themselves to the research of nonlinear control methods. Among them, the methods applied to aerial robot systems mainly include sliding mode control [19,20] (SMC), backstepping [21], model predictive control (MPC) [22,23], active disturbance rejection control [24,25] (ADRC), and intelligent control [26][27][28].…”

Section: Introductionmentioning

confidence: 99%

A Novel Aerial Manipulator with Front Cutting Effector: Modeling, Control, and Evaluation

Yang

Guoxing

et al. 2021

Complexity

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This paper proposes a novel aerial manipulator with front cutting effector (AMFCE) to address the aerial physical interaction (APhI) problem. First, the system uncertainty and external disturbance during the system movement and contact operation are estimated by modeling the entire robot and contact position. Next, based on the established model, the nonlinear disturbance observer (NDO) is used to estimate and compensate the unknown external disturbance of the system and the uncertainty of the model parameters in real time. Then, the nonsingular terminal synovial membrane control method is used to suppress the part that is difficult to estimate. Finally, a controller which is suitable for the movement and operation of the entire system is designed. The controller’s performance is verified through experiments, and the results show that the design, modeling, and control of the entire system can achieve the APhI.

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Fractional Super-Twisting/Terminal Sliding Mode Protocol for Nonlinear Dynamical Model: Applications on Hovercraft/Chaotic Systems

Ghasemi,

Shahbazi,

Mahmoodi

2023

J. Marine. Sci. Appl.

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Fixed time terminal sliding mode trajectory tracking design for a class of nonlinear dynamical model of air cushion vehicle

Cited by 8 publications

References 38 publications

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

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

A Novel Aerial Manipulator with Front Cutting Effector: Modeling, Control, and Evaluation

Fractional Super-Twisting/Terminal Sliding Mode Protocol for Nonlinear Dynamical Model: Applications on Hovercraft/Chaotic Systems

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