A Fast Nonsingular Terminal Sliding Mode Control Method for Nonlinear Systems With Fixed-Time Stability Guarantees

Tian, Yu‐Ping; Cai, Yuanli; Yifan, Deng

doi:10.1109/access.2020.2980044

Cited by 57 publications

(40 citation statements)

References 46 publications

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“…Remark 1: Note that system (3) was investigated in [37]. System (5) was presented in [25], which is extended from (3) and has faster convergence than (3). However, the convergence time of system (5) is not an optimal one.…”

Section: Mathematical Preliminariesmentioning

confidence: 99%

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Novel Fixed-Time Nonsingular Fast Terminal Sliding Mode Control for Second-Order Uncertain Systems Based on Adaptive Disturbance Observer

et al. 2020

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In this paper, a novel fixed-time nonsingular fast terminal sliding mode control incorporating with an adaptive disturbance observer is proposed for second-order uncertain nonlinear systems to achieve fast stabilization and robust control. Based on the theory of fixed-time convergence, a novel fixed-time stable system is first investigated. Using this system, a novel fixed-time nonsingular fast terminal sliding mode controller is developed, which can achieve system stabilization within bounded convergence time regardless of initial states and provide nonsingularity and fast convergence. Moreover, an adaptive disturbance observer is designed to improve the control performance and compensate for uncertain disturbances.The fixed-time stability of the sliding surface and the system states under the proposed composite control scheme are demonstrated by the Lyapunov stability theory. Both theoretical analysis and simulation results are presented to verify the feasibility and superiority of the proposed method. INDEX TERMS Nonsingular fast terminal sliding mode, adaptive disturbance observer, fixed-time stability.

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Section: Mathematical Preliminariesmentioning

confidence: 99%

“…Fixed-time terminal sliding surfaces were designed for the tracking control of the rigid spacecraft [22]- [24]. The literature [25] proposed a novel fixed-time nonsingular TSMC strategy that was used to control a single inverted pendulum.…”

Section: Introductionmentioning

confidence: 99%

Novel Fixed-Time Nonsingular Fast Terminal Sliding Mode Control for Second-Order Uncertain Systems Based on Adaptive Disturbance Observer

et al. 2020

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“…However, the time of these non-singular terminal sliding mode controls is not independent of the initial state, which will lengthen the convergence time of the quadrotor formation. A fixed-time nonsingular fast terminal sliding mode control is proposed [35]. Nevertheless, the convergence time to avoid singularity areas is finite, which will prolong the formation convergence time.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fixed Time Nonsingular Terminal Sliding-Mode Control for Quadrotor Formation With Obstacle and Inter-Quadrotor Avoidance

et al. 2021

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In this paper, a robust and safety distributed formation control with unknown external disturbances is researched. For a multi-quadrotors system, a novel nonsingular terminal sliding mode control strategy is studied to realize the formation control with collision avoidance and inter-quadrotor avoidance. The formation controller is redesigned once the system reaches the small field of sliding surface to solve the existence of singular of quadrotor formation and realize the fixed time convergence of singularity region. Then, the position controller and attitude controller are designed to maintain formation configuration with collision avoidance and track the desired angular rate with disturbances, respectively. The global fixed time convergence of quadrotor formation is verified by Lyapunov theory with the fixed time convergence characteristic of singularity region and nonsingular region. At last, simulation results are presented to demonstrate the efficiency of the developed algorithm.

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“…These features are further enhanced in the fast-terminal version (FTSMC) [20]- [25]. Specifically, a nonlinear switching manifold substituting for a conventional sliding surface can substantially improve transient performance and shorten the convergence period [24,25]. Therefore, FTSMC has been employed for a wide range of second-order nonlinear systems [26], [27], including under-actuated systems [20].…”

Section: Introductionmentioning

confidence: 99%

Robust Finite-Time Convergence Control Mechanism for High-Precision Tracking in a Hybrid Fluid Power Actuator

et al. 2020

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In this study, a novel multiphase converged control structure with a switching mechanism is established based on the fundamentals of the fast-terminal sliding mode. This control structure achieves an excellent performance in a nonlinear dynamic system, and its primary objective is to control the piston trajectory in an innovative electrohydraulic, pneumatic, and mechanical hybrid system. This work focuses on abrupt gain-scheduled acceleration, which has been rarely studied in the literature but has increasingly diverse high-technology applications across various industries. The greatest challenge lies in the sensitivity and instability of the system during a sudden actuator acceleration. Moreover, the system parameter uncertainties and external disturbances strongly influence the degree of control of the system. By inheriting the robustness and fast convergence properties of sliding-mode algorithms, the proposed control law not only guarantees a finite-time convergence of tracking errors to their origin but also reduces the impact of composite disturbances in an extremely rapid experimental process. The effectiveness of the proposed structure is analyzed via numerical simulations and industrial implementation.

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A Fast Nonsingular Terminal Sliding Mode Control Method for Nonlinear Systems With Fixed-Time Stability Guarantees

Cited by 57 publications

References 46 publications

Novel Fixed-Time Nonsingular Fast Terminal Sliding Mode Control for Second-Order Uncertain Systems Based on Adaptive Disturbance Observer

Novel Fixed-Time Nonsingular Fast Terminal Sliding Mode Control for Second-Order Uncertain Systems Based on Adaptive Disturbance Observer

Adaptive Fixed Time Nonsingular Terminal Sliding-Mode Control for Quadrotor Formation With Obstacle and Inter-Quadrotor Avoidance

Robust Finite-Time Convergence Control Mechanism for High-Precision Tracking in a Hybrid Fluid Power Actuator

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