Sliding Mode Control for a Class of Nonlinear Multi-agent System With Time Delay and Uncertainties

Zhang, Jie; Lyu, Ming; Shen, Tianfeng; Liu, Lei; Bo, Yuming

doi:10.1109/tie.2017.2701777

Cited by 91 publications

(47 citation statements)

References 28 publications

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“…The main objective of this paper is to employ the method of sliding mode control to achieve this control objective due to its many advantages, such as simple design idea and good robustness [10,12]. There have been many results about the sliding control algorithms for PMLM in the literature, such as [13,19], and the most of control laws are based on the design of continuous-time SMC laws with asymptotical convergence.…”

Section: Description Of System Model and Control Objectivementioning

confidence: 99%

“…The sliding mode control algorithm is easy to use and makes the system state have a good robustness. In particular, even if the controlled systems are suffering from the uncertainty of parameters and external disturbances, SMC can theoretically determine the final tracking accuracy by constructing the reaching law and designing the sliding surface [10][11][12]. For example, in [13], an equivalent disturbance observer based on sliding mode control method and proportional-integral (PI) was proposed.…”

Section: Introductionmentioning

confidence: 99%

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Position Tracking Control for Permanent Magnet Linear Motor via Continuous-Time Fast Terminal Sliding Mode Control

Gao

Chen

et al. 2018

Journal of Control Science and Engineering

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For the position tracking control problem of permanent magnet linear motor, an improved fast continuous-time nonsingular terminal sliding mode control algorithm based on terminal sliding mode control method is proposed. Specifically, first, for the second-order model of position error dynamic system, a new continuous-time fast terminal sliding surface is introduced and an improved continuous-time fast terminal sliding mode control law is proposed. Then rigorous theoretical analysis is provided to demonstrate the finite-time stability of the closed-loop system by using the Lyapunov function. Finally, numerical simulations are given to verify the effectiveness and advantages of the proposed fast nonsingular terminal sliding mode control method.

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Section: Description Of System Model and Control Objectivementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Position Tracking Control for Permanent Magnet Linear Motor via Continuous-Time Fast Terminal Sliding Mode Control

Gao

Chen

et al. 2018

Journal of Control Science and Engineering

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“…17 The cooperative tracking control of MNWMRs is widely viewed as the issue of consensus or formation tracking control of multi-agent systems (MASs). 22 Numerous consensus or formation protocols (or algorithms) have been proposed for MASs from various perspectives, with the analysis performed in the framework of Cartesian coordinates or polar coordinates. [23][24][25][26] In contrast to the Cartesian coordinates, the polar coordinate representation of NWMR is more often adopted to describe the collective rotating formation problem for a group of multi-agent dynamic systems, originating from many potential applications such as formation flight of satellites around the earth, circular mobile sensor networks, and spacecraft docking.…”

Section: Introductionmentioning

confidence: 99%

Practical consensus tracking control of multiple nonholonomic wheeled mobile robots in polar coordinates

Liu

Guo

et al. 2020

Intl J Robust & Nonlinear

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This paper proposes a sliding-mode control (SMC) method to achieve practical cooperative consensus tracking for a network of multiple nonholonomic wheeled mobile robots (MNWMRs) with input disturbances. A novel SMC surface under the nonholonomic constraints is first formulated to characterize the network communication interactions among the networked robots under the framework of polar coordinates. A unified distributed consensus tracking strategy is then proposed by systematically combining a position controller and a direction controller. Furthermore, a simple yet general criterion is derived to achieve the desired practical consensus of trajectory tracking and posture stabilization for MNWMRs. In particular, for a specific common consensus trajectory, the complete asymptotic tracking in heading direction can be fully guaranteed when the perfect asymptotic position-tracking errors are realized. Accordingly, the developed consensus tracking strategy for MNWMRs demonstrates some advantages of control performance including stability, robustness, and effectiveness over the existing control method proposed for their single-robot counterparts. Some comparative simulation results are given to confirm the effectiveness of the proposed cooperative consensus control method. K E Y W O R D Smulti-nonholonomic mobile robots, polar coordinates, practical consensus tracking, sliding-mode control 1 Int J Robust Nonlinear Control. 2020;30:3831-3847.wileyonlinelibrary.com/journal/rnc

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“…Unlike these control methods, the model-based control presented in this paper uses a modified statespace model which preserves the low frequency statespace variables dynamics, and allows to design a robust sliding mode control (SMC) in natural reference frame. The use of the SMC technique improves the tracking behaviour and dynamic performances, providing fast dynamic response with high robustness against system parameters variations [3], [4].…”

Section: Introductionmentioning

confidence: 99%

Variable Structure Control in Natural Frame for Three-Phase Grid-Connected Inverters With LCL Filter

Guzmán

Vicuña

Castilla

et al. 2018

IEEE Trans. Power Electron.

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Abstract-This paper presents a variable structure control in natural frame for a three-phase gird-connected voltage source inverter with LCL filter. The proposed control method is based on modifying the converter model in natural reference frame, preserving the low frequency state space variables dynamics. Using this model in a Kalman filter, the system state-space variables are estimated allowing to design three independent current sliding-mode controllers. The main closed-loop features of the proposed method are: 1) robustness against grid inductance variations because the proposed model is independent of the grid inductance, 2) the power losses are reduced since physical damping resistors are avoided, 3) the control bandwidth can be increased due to the combination of a variable hysteresis comparator with the Kalman filter, and 4) the grid-side current is directly controlled providing high robustness against harmonics in the grid. To complete the control scheme, a theoretical stability analysis is developed. Finally, selected experimental results validate the proposed control strategy and permit illustrating all its appealing features.

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Sliding Mode Control for a Class of Nonlinear Multi-agent System With Time Delay and Uncertainties

Cited by 91 publications

References 28 publications

Position Tracking Control for Permanent Magnet Linear Motor via Continuous-Time Fast Terminal Sliding Mode Control

Position Tracking Control for Permanent Magnet Linear Motor via Continuous-Time Fast Terminal Sliding Mode Control

Practical consensus tracking control of multiple nonholonomic wheeled mobile robots in polar coordinates

Variable Structure Control in Natural Frame for Three-Phase Grid-Connected Inverters With LCL Filter

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