A New Approach to Terminal Sliding Mode Control Design

Ye, Hong; Yang, Guowu; Cheng, Daizhan; Spurgeon, Sarah K.

doi:10.1111/j.1934-6093.2005.tb00386.x

Cited by 26 publications

(29 citation statements)

References 13 publications

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“…Finite time convergence may be accomplished by the terminal sliding-mode control (TSMC) [9,10], of which the sliding surface is a nonlinear function of the tracking error and its derivatives. However, the TSMC methods usually involve singularity of control input and, subsequently, nonsingular terminal sliding-mode control, which not only achieves the finite time convergence but also avoids singularity, is proposed [11][12][13][14][15][16][17][18][19]. By far, few guidance laws were developed to achieve both hit-tokill interception and desired terminal impact angles in finite time.…”

Section: Introductionmentioning

confidence: 99%

Partial Integrated Guidance and Control with Impact Angle Constraints

Wang

2015

Journal of Guidance, Control, and Dynamics

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Novel sliding-mode control laws are proposed in this paper to stabilize a class of uncertain nonlinear systems. Considering that the sign function, which is often used in the sliding-mode control can cause chattering of control input, the saturation function is used to take its place in proposed controllers. What is more, not only the proposed controllers are continuous but also convergence to the origin asymptotically and in finite time can both be guaranteed in theory. For asymptotic convergence, it is only required that uncertainties and disturbances are bounded and the bounds may be unknown by virtue of adaptive laws. The obtained results are then applied to partial integrated guidance and control design for a missile, completing desired terminal impact angle and hit-to-kill interception. Finally, simulations are conducted on the nonlinear longitudinal missile model and results demonstrate the effectiveness of the proposed method. Nomenclature A Tr , A Tλ= projections of target acceleration along and orthogonal to the line of sight, m∕s 2 c x , c z , c m = aerodynamic coefficients F x , F z = aerodynamic forces, N g = gravity acceleration, m∕s 2 I yy = moment of inertia around the pitch axis, kg∕m 2 k F , k M = constants determined by the missile geometry, m 2 and m 3 , respectively M = pitching moment, N · m M m = Mach number m = missile mass, kg n L = missile normal acceleration, m∕s 2 q = pitch rate, rad∕s r = the range along the line of sight, m V M = missile velocity, m∕s V r , V λ = components of relative velocity along and orthogonal to the line of sight, m∕s α = angle of attack, rad γ M = missile flight-path angle, rad δ e = elevator deflection, rad θ = pitch angle, rad λ = line-of-sight angle, rad ρ = atmospheric density, kg∕m 3

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Section: Introductionmentioning

confidence: 99%

Partial Integrated Guidance and Control with Impact Angle Constraints

Wang

2015

Journal of Guidance, Control, and Dynamics

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“…Terminal sliding mode control (TSMC) is one of the common control approches, which can make system state converging to stable states in a finite time [1][2][3][4][5] . Recently, a great deal of TSMC approaches were used in robotic manipulators [6][7][8][9][10][11] because of some superior properties such as better tracking precision, fast convergence, insensitivity to system uncertainty and external disturbance [10,12] .…”

Section: Introductionmentioning

confidence: 99%

Fuzzy moving fast terminal sliding mode control for robotic manipulators

Shi

Qian

et al. 2012

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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This paper presents a new form of nonsingular terminal sliding mode control with fuzzy tuning approach for tracking-performance enhancement in a class of nonlinear systems with uncertainties and external disturbance. The robustness of the controller is established using the Lyapunov stability theory. The main contribution of the proposed method is that the terminal sliding surface can rotate and bend in the phase space so that the tracking performance can be enhanced, and chattering can also be reduced by employing fuzzy tuning of the controller parameters. Theoretical analysis and simulation results demonstrate the efficacy and superiority of the proposed approach in the sense of tracking-performance enhancement comparing with conventional terminal sliding mode control.

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“…The 20 control parameters of control law (27) Table 1 and Table 2 show that system uncertainty increase from 20% to 53% after 5sec t in this case. The nominal values, boundary parameters and controller parameter of RFTSC control law (17) and ASC control law are same, except the parameter , which is the key parameter to achieve finite time stability.…”

Section: Case 3 Picking Up An Object Suddenlymentioning

confidence: 99%

“…By employing the results on differential inequalities [28,29], Theorem 2 can guarantee the finite-time stability of robot control systems without requiring the uniqueness of solution in forward time condition. Then control law (17) proposed by this paper can be applied to more general robot manipulators.…”

Section: T X T V T Kmentioning

confidence: 99%

“…Roughly speaking, there are four state feedback based approaches for nonlinear system finite-time control [9], time optimal control, such as bang-bang control [10,11], homogeneous system finite-time stability approach [12,13], finite-time Lyapunov stability approach [14,15] and terminal sliding mode control (TSMC) method [16,17]. Compared with ASC, the FTSC offers some superior properties such as fast response, high tracking precision, strong disturbance rejection and insensitivity to system uncertainty [18][19][20][21][22].…”

Section: Introductionmentioning

confidence: 99%

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