Nonsingular fast terminal sliding-mode stabilizer for a class of uncertain nonlinear systems based on disturbance observer

Mobayen, Saleh; Tchier, Fairouz

doi:10.24200/sci.2017.4123

Cited by 77 publications

(51 citation statements)

References 36 publications

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“…We present results using the nonlinear controller (21), which enhances the performance of the linear controller (15) due to its robustness properties. In the following simulations, a MAS of 8 thirdorder agents is considered, where the agents' dynamics are described by (5)…”

Section: Simulationsmentioning

confidence: 99%

“…[3], [4]. As interesting examples of finite-time control of uncertain non-linear systems, we can mention [5] for stabilization using nonsingular fast terminal sliding mode control, and [6] for synchronization of chaotic systems in the presence of external disturbances and time delays. In both finite and fixedtime convergence, the settling time is a finite value, but in the fixed-time convergence the settling time is uniformly bounded, meaning that the system converges to its equilibrium before an estimated bound that is independent of the initial state.…”

Section: Introductionmentioning

confidence: 99%

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Robust Leader-Following Consensus of High-Order Multi-Agent Systems in Prescribed Time

et al. 2020

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This paper addresses the distributed prescribed-time leader-following consensus problem for a class of high-order multi-agent systems (MASs) with perturbed nonlinear agents dynamics and where the topology of the network contains a directed spanning tree, with the leader as the root. Prescribedtime consensus means that an agreement state of the MAS is achieved in a preset time, introduced as a parameter of the control law, and this constant settling time is achieved independently of the agents' initial state. The proposed control method exhibits three main advantages: first, to our best knowledge, it is the first time that prescribed-time convergence in a consensus problem is achieved for agents with highorder nonlinear dynamics, using a robust leader-following protocol, which allows an effective rejection of matched disturbances in the agents' model. Second, the proposed controller provides control signals of lower magnitude than existing approaches. Third, the proposed consensus protocol does not have parameters to be adjusted depending on the connectivity of the considered communication graph. INDEX TERMS Multi-agent systems, distributed protocol, high-order systems, prescribed-time consensus, time base generators (TBGs).

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Section: Simulationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust Leader-Following Consensus of High-Order Multi-Agent Systems in Prescribed Time

et al. 2020

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“…Due to the existing uncertainties and nonlinearities associated with WMRMs, it is essential to design a control scheme that can robustly and optimally control such nonlinear systems [20]. Designing an appropriate trajectory tracking control system for wheeled mobile robots is a challenging issue, and it has been investigated through various approaches such as robust control [21][22][23][24][25][26][27][28][29], adaptive control [30][31][32][33], optimal control [34][35][36][37][38][39][40], and hybrid control [40][41][42][43][44][45][46] methods. A controller designed for a WMRM should enable the robot to follow a predefined path, while tackling the existing uncertainties and disturbances.…”

Section: Introductionmentioning

confidence: 99%

Trajectory tracking of an uncertain wheeled mobile robotic manipulator with a hybrid control approach

Shafei

Bahrami

Talebi

2020

J Braz. Soc. Mech. Sci. Eng.

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In this paper, a novel hybrid control approach is used for trajectory-tracking control of wheeled mobile robotic manipulators (WMRMs) in the presence of model uncertainties and external disturbances. Due to the existence of nonholonomic constrains in wheeled mobile robots, the proposed controller should be able to tackle the challenge of underactuation in such systems. To attain this objective, the dynamic equations of motion for a WMRM are derived in closed form using the Gibbs-Appell (G-A) formulation, which is an efficient method for obtaining the dynamic motion equations of nonholonomic systems. Then, a novel control scheme is developed which is both optimal and robust and which enjoys updated gains under an adaptive law. In this regard, to benefit from the advantages of two distinct methods, a high-order sliding mode control (HOSMC) is employed as a robust controller with the aim of handling system uncertainties and a state-dependent Riccati equation (SDRE) is used as a nonlinear optimal controller. In order to systematically deal with system uncertainties and to avoid the manual calculation of the upper bound of uncertainties, the gain of HOSMC is updated via an adaptive law. The most important advantage of this novel approach over the existing methods is that not only is it robustly stable against external disturbances when controlling an uncertain nonlinear system but also optimal for a predefined quadratic cost function. Lyapunov stability theory is employed to verify the stability of the proposed controller. Finally, to demonstrate the superiority of this novel controller, computer simulation results for a WMRM are compared with those of an adaptive sliding mode controller. It can be observed that the proposed hybrid control approach is capable of optimizing control inputs while achieving stability for a WMRM in the presence of model uncertainties.

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“…The mode should be avoided switching frequently [17][18][19][20] . Besides, there are many control strategies are adopted to realize high-level trajectory tracking, such as slide control [21][22][23][24] , adaptive control [25] , ARC [10,26] , NN control [27,28] , learning-based optimal control [29] , fuzzy control [30][31][32] and decentralized event-triggered control [33] . In this paper, we proposed a three-level control strategy for a multi-pump multi-actuator electro-hydraulic system.…”

Section: Introductionmentioning

confidence: 99%

Energy-Saving Trajectory Tracking Control of a Multi-Pump Multi-Actuator Hydraulic System

Bao

Wang

2020

IEEE Access

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With the increasing application of automated hydraulic excavators, the demand for high-level control performance and significant energy saving schemes becomes stronger. The traditional hydraulic excavators with single-pump power source have amounts of coupling loss on throttling valves due to multiactuator effect. Moreover, their operability is usually influenced by the load varying in a large range. This paper proposes a multi-pump system with on-off valve matrix to eliminate the coupling loss by dividing the system into several single-pump single-actuator subsystems. A pump/valve coordinate control strategy with multiple working modes is developed to adapt the load variation. First, mathematical modeling including mechanical part and hydraulic part is carried out based on dynamic analysis. Second, a three-level coordinated control scheme is proposed: 1) The motion tracking level utilizes backstepping control technique with load observation to obtain the desired hydraulic force; 2) The working mode switching level configures the pump and valve control mode to maximize energy saving according to load condition; 3) The force control level utilizes control technique to guarantee the stability and dynamic performance. Finally, comparative experimental results are presented to show the good control performance and significant energy saving achieved by the proposed multi-pump multi-actuator system as well as the control strategy.

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Nonsingular fast terminal sliding-mode stabilizer for a class of uncertain nonlinear systems based on disturbance observer

Cited by 77 publications

References 36 publications

Robust Leader-Following Consensus of High-Order Multi-Agent Systems in Prescribed Time

Robust Leader-Following Consensus of High-Order Multi-Agent Systems in Prescribed Time

Trajectory tracking of an uncertain wheeled mobile robotic manipulator with a hybrid control approach

Energy-Saving Trajectory Tracking Control of a Multi-Pump Multi-Actuator Hydraulic System

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