Nonsingular Fast Terminal Sliding Mode Control with Extended State Observer and Tracking Differentiator for Uncertain Nonlinear Systems

He, Zhenxin; Liu, Chuntong; Zhan, Yang; Li, Hongcai; Huang, Xianxiang

doi:10.1155/2014/639707

Cited by 18 publications

(9 citation statements)

References 32 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…. The parameters for the proposed control input with DO and STRCL were experimentally chosen to make system stable, to obtain the desired performance with a fast convergence time, and to satisfy the conditions, which were mentioned in the study and have been explained in greater detail by previous researchers [37], [38], [58], [70]. The parameters of the controllers, including SMC and NFTSMC were chosen to guarantee stability and obtain the good performance (refer to SMC [33], and NFTSMC [37], [68]).…”

Section: Volume 4 2020mentioning

confidence: 99%

A Novel Fault-Tolerant Control Method for Robot Manipulators Based on Non-Singular Fast Terminal Sliding Mode Control and Disturbance Observer

2020

IEEE Access

View full text Add to dashboard Cite

In this study, a novel Fault-Tolerant Control Methodology (FTCM) is developed for robot manipulators. First, to overcome singularity glitch and to enhance convergence time of conventional Terminal Sliding Mode Control (TSMC), a new Fast Terminal Sliding Mode Surface (FTSMS) is constructed. Next, to reduce the computation complexity and to provide requirements about undefined nonlinear functions for the control system, a Disturbance Observer (DO) to estimate uncertain dynamics, external disturbances, or faults. Besides, a Super-Twisting Reaching Control Law (STRCL) is designed to compensate for the estimated error of disturbance observer with chattering rejection. Final, a novel, robust, FTCM was developed for robot manipulators to obtain the stability goal of the system, to reach the prescribed performance, and to overcome the effects of disturbances, nonlinearities, or faults. Accordingly, the proposed FTCM has remarkable features, such as fast convergence speeds, robust precision, high tracking performance, significant alleviation of chattering behavior, and finite-time convergence. The position tracking computer simulations were implemented to exhibit the effectiveness and feasibility of the suggested FTCM compared with other control algorithms.

show abstract

Section: Volume 4 2020mentioning

confidence: 99%

A Novel Fault-Tolerant Control Method for Robot Manipulators Based on Non-Singular Fast Terminal Sliding Mode Control and Disturbance Observer

2020

IEEE Access

View full text Add to dashboard Cite

show abstract

“…Neural network and fuzzy logic based techniques 38,39 and some impressive methods are utilized to suppress chattering phenomenon 40,41 . A nonsingular‐fast‐terminal‐sliding‐mode control (NFTSMC) with finite‐time convergence and no chattering is presented in Reference 42 to improve the precision in system tracking with suppression of chattering and noise. A robust model free NSTSMC is presented in Reference 43 for improving the tracking accuracy and fault‐tolerant for PMSM.…”

Section: Introductionmentioning

confidence: 99%

Intelligent Proportional Integral Terminal Sliding Mode Control for variable speed standalone wind energy conversion system

Jain

Saravanakumar

2020

Env Prog and Sustain Energy

View full text Add to dashboard Cite

This study investigates the design of robust nonlinear controller for control of voltage and frequency of variable‐speed standalone Wind Energy Conversion System (WECS). The variation in wind‐speed and load raise the oscillation in terminal‐voltage and frequency. These oscillation need to be minimized for enhancing the power management. To overcome this issue, an Intelligent Proportional Integral Terminal Sliding Mode Controller (iPI‐TSMC) is proposed. Proposed iPI‐TSMC establishes a fast‐finite‐time convergence with minimum steady‐state error. Also this controller is robust against the wind velocity perturbation, load variations, and external disturbances. Closed‐loop stability of the proposed controller is validated using Lyapunov‐stability‐theorem. The cogency of the proposed iPI‐TSMC has been validated through MATLAB/simulink environment for different operating conditions. Also performance of iPI‐TSMC is compared with fractional‐order‐proportional‐integral (FOPI) and conventional integer‐order‐proportional‐integral (IOPI) controllers. The simulation results, signifies the efficacy of iPI‐TSMC as compared to other controllers. Feasibility of proposed iPI‐TSMC controller is verified in real‐time HIL simulator using op4510 platform. Statement of Industrial Relevance Simulation analysis and the comparative study of iPI‐TSMC with FOPI, and IOPI shows better performance to keep constant terminal‐voltage during different wind‐profiles, load variation, and external disturbance. Also, performance assessment of iPI‐TSMC for different matrices during varying wind‐profiles is found superior than FOPI and IOPI controllers. Performance validation of proposed iPI‐TSMC for varying wind‐velocity and load in real‐time HIL simulator op4510 platform shows the feasibility of the proposed controller, which makes it suitable for real‐time application.

show abstract

“…However, the system was often affected by the uncertainty of the model and the amount of interference, resulting in system chattering and even instability. In order to solve this problem, Reference [30] proposed a continuous nonsingular fast terminal sliding mode control scheme with extended state observer and tracking differentiator for second-order uncertain SISO nonlinear systems. In [31], the stability and attitude control of a class of quadrotor systems with uncertainties and unknown disturbances were studied.…”

Section: Introductionmentioning

confidence: 99%

Nonsingular Fast Terminal Sliding Mode Tracking Control for a Class of Uncertain Nonlinear Systems

Chen

Wei

Huang

2019

Journal of Control Science and Engineering

View full text Add to dashboard Cite

Aiming at the tracking control problem of a class of uncertain nonlinear systems, a nonsingular fast terminal sliding mode control scheme combining RBF network and disturbance observer is proposed. The sliding mode controller is designed by using nonsingular fast terminal sliding mode and second power reaching law to solve the problem of singularity and slow convergence in traditional terminal sliding mode control. By using the universal approximation of RBF network, the unknown nonlinear function of the system is approximated, and the disturbance observer is designed by using the hyperbolic tangent nonlinear tracking differentiator (TANH-NTD) to estimate the interference of the system and enhance the robustness of the system. The stability of the system is proved by the Lyapunov principle. The numerical simulation results show that the method can shorten the system arrival time, improve the tracking accuracy, and suppress the chattering phenomenon.

show abstract

Nonsingular Fast Terminal Sliding Mode Control with Extended State Observer and Tracking Differentiator for Uncertain Nonlinear Systems

Cited by 18 publications

References 32 publications

A Novel Fault-Tolerant Control Method for Robot Manipulators Based on Non-Singular Fast Terminal Sliding Mode Control and Disturbance Observer

A Novel Fault-Tolerant Control Method for Robot Manipulators Based on Non-Singular Fast Terminal Sliding Mode Control and Disturbance Observer

Intelligent Proportional Integral Terminal Sliding Mode Control for variable speed standalone wind energy conversion system

Nonsingular Fast Terminal Sliding Mode Tracking Control for a Class of Uncertain Nonlinear Systems

Contact Info

Product

Resources

About