Neural network-based fixed-time sliding mode control for a class of nonlinear Euler-Lagrange systems

Zhao, Zhiye; Jin, Xiao‐Zheng; Wu, Xiaoming; Wang, Hai; Chi, Jing

doi:10.1016/j.amc.2021.126718

Cited by 21 publications

(42 citation statements)

References 38 publications

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“…Theorem 2. Considering the dynamical nonlinear system (3) where the upper bound of the lumped uncertainty is supposed to be completely unknown. If the TV-NTSM surface is chosen as (12) in which the piecewise function satisfies the conditions ( 14) and ( 15) and the adaptive control law is designed as (31) under the adaptation laws ( 32)- (34), then:…”

Section: Adaptive Global Time-varying Nonsingular Terminal Sliding Mo...mentioning

confidence: 99%

“…The assumptions (56)-(58) are obtained according to the dynamic properties of robotic systems and have been widely used for the control design. [1][2][3][4][5][6][7] Remark 7. It can be seen from ( 59) that the upper bound of the control input is related to position and velocity feedback.…”

Section: Design Of Global Time-varying Nonsingular Terminal Sliding M...mentioning

confidence: 99%

“…When the convergence to the sliding surface occurs, the strong robustness of the system can be guaranteed. [1][2][3][4][5][6][7] In several control approaches, a linear sliding surface is employed to design a controller and this can only ensure asymptotic convergence. [8][9][10][11][12][13] To achieve finite-time convergence, terminal sliding mode (TSM) control techniques have been designed using nonlinear sliding surfaces and have been widely investigated for various nonlinear systems like power filters, 14,15 MEMS gyroscope, stochastic and strict-feedback nonlinear systems, 16,17 robotic manipulators, [18][19][20][21][22][23][24][25] and so forth.…”

Section: Introductionmentioning

confidence: 99%

“…1. Different from TSM [14][15][16][17][18][19][20][21][22][23][24][25] and fixed-time sliding mode [1][2][3][4][5][6][7][8][9][10][11][12][13][14]26,27 tracking controls, the state trajectories are constrained to the sliding surface from the very beginning of system response and thus the reaching phase is totally eliminated and the global robustness is ensured;…”

Section: Introductionmentioning

confidence: 99%

“…During the reaching phase, the system is sensitive to uncertainties and disturbances. When the convergence to the sliding surface occurs, the strong robustness of the system can be guaranteed 1–7 …”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Time‐varying nonsingular terminal sliding mode control for uncertain second‐order nonlinear systems with prespecified time

Boukattaya

Gassara

2022

Adaptive Control & Signal

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This article proposes a time‐varying nonsingular terminal sliding mode (TSM) control for a class of uncertain second‐order nonlinear system and its application to n‐links rigid robotic manipulators. First, a time‐varying nonsingular terminal sliding manifold is developed by incorporating a piecewise‐defined function of time into a nonsingular TSM manifold. As a result, the singularity problem is avoided and the reaching phase existing in conventional TSM control is totally suppressed which ensures the global robustness of the system against uncertainties and disturbances. Moreover, adaptive tuning laws are developed to omit the requirement of prior knowledge of the upper bound of the lumped uncertainty. In particular, an effective method is provided for the parameters selection to meet a prespecified convergence time. Hence, the convergence time to the origin of the tracking errors can be specified in advance according to the mission requirements. The formulation of the controllers and the stability analysis are verified by Lyapunov theory. Simulation results and comparative studies are presented to demonstrate the effectiveness and the superiority of the proposed algorithms.

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Section: Adaptive Global Time-varying Nonsingular Terminal Sliding Mo...mentioning

confidence: 99%

Section: Design Of Global Time-varying Nonsingular Terminal Sliding M...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Time‐varying nonsingular terminal sliding mode control for uncertain second‐order nonlinear systems with prespecified time

Boukattaya

Gassara

2022

Adaptive Control & Signal

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Predefined‐time control for Euler–Lagrange systems with model uncertainties and actuator faults

Wang

Hou

Feng

et al. 2022

Asian Journal of Control

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A novel adaptive predefined-time tracking control algorithm is proposed for the Euler-Lagrange systems (ELSs) with model uncertainties and actuator faults. Compared with traditional finite-time and fixed-time studies, the system output tracking error under the proposed predefined-time controller converges to a small neighborhood of zero in finite time, whose upper bound is exactly a design parameter in the control algorithm. For the uncertain model, radial-based function neural network (RBFNN) is utilized to approximate the continuous uncertain dynamics. To deal with the actuator faults, an adaptive control law is involved in the fault-tolerant controller. In order to achieve the predefined-time bounded, a novel predefined-time sliding mode surface is designed. It is proved that the tracking error vector trajectory of closed-loop system is semi-globally uniformly ultimately predefined-time bounded, and the upper bounds of both the system settling time and the corresponding output tracking error can be adjusted with a simple parameter. Simulation examples finally demonstrate the effectiveness of the proposed control algorithm.

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Leader‐following consensus of nonlinear singular switched multi‐agent systems via sliding mode control

Cai,

Yi,

et al. 2024

Asian Journal of Control

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In this paper, the sliding mode control algorithm is proposed for solving the leader‐following consensus issue of singular switched multi‐agent systems. The communication topology herein is considered to be directed interacted. To deal with the effects of nonlinearity and singularity, a novel integral‐type sliding mode control protocol is introduced in algorithmic design, which enforces the state trajectories of systems moving on the constructed sliding manifold. The common integral‐type sliding mode gain matrix designed in distributed algorithms herein avoids the frequent switching that may cause the failure and instability of the control framework. Moreover, in the existing works, the developed results on consensus for singular switched multi‐agent systems are almost based on the average dwell time method, and how to construct a desired control input in the frame of the mode‐dependent average dwell time remains a control dilemma. By presenting a general integral‐type sliding mode control rule based on the mode‐dependent average dwell time, this article implements the sliding mode control for the singular switched multi‐agent systems under interest. With the aid of Lyapunov method, the convergence of error systems for multi‐agent systems is obtained. Finally, numerical simulations and application are presented, which illustrate the validity of designed algorithm.

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Neural network-based fixed-time sliding mode control for a class of nonlinear Euler-Lagrange systems

Cited by 21 publications

References 38 publications

Time‐varying nonsingular terminal sliding mode control for uncertain second‐order nonlinear systems with prespecified time

Time‐varying nonsingular terminal sliding mode control for uncertain second‐order nonlinear systems with prespecified time

Predefined‐time control for Euler–Lagrange systems with model uncertainties and actuator faults

Leader‐following consensus of nonlinear singular switched multi‐agent systems via sliding mode control

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