Adaptive nonsingular proportional–integral–derivative-type terminal sliding mode tracker based on rapid reaching law for nonlinear systems

Abstract

This article deals with a novel adaptive robust controller for uncertain nonlinear systems relying on a proportional–integral–derivative-type nonsingular fast terminal sliding mode control. In this nonsingular proportional–integral–derivative-type terminal sliding mode controller nonsingular fast terminal sliding mode control, the nonsingular fast terminal sliding mode control sliding surface is modified with integral to match with the proportional–integral–derivative-type structure to obtain the essential attributes, namely, quick transient response, finite-time convergence, negligible steady-state error, and chattering cancellation. Furthermore, a novel rapid reaching law is also suggested with dynamic proof for providing the robustness during transient phase. The controller stability and convergence is mathematically analyzed using the Lyapunov theory. The overall control structure is simulated on MATLAB® software and tested for trajectory tracking of a two-degree-of-freedom revolute–prismatic joint industrial robotic manipulator. The rigorous test results show the performance efficacy of the innovative controller.

An Enhanced Coupling Adaptive Sliding Mode Control Method for Casting Cranes Based on Radial Spring Damping

“…Differentiating V(t) with regard to time yield and substituting (26) into it produces the following result:…”

“…So a more reliable and efficient control strategy is required [12][13][14][15][16][17]. At present, the commonly used control methods in the field of crane control mainly include PID control [18,19], input shaping control [20,21], fuzzy control [22,23], sliding mode control [24][25][26], energy control [27,28], and adaptive control [4,29]. Reference [12] introduced an output feedback method that does not require a speed signal, reducing the cost of additional speed sensors.…”

Development of Sliding Mode Controller Based on Internal Model Controller for Higher Precision Electro-Optical Tracking System

“…Seungmin et al [20] suggested a new adaptive law for the SMC method to accomplish efficient switching gain tuning at the sliding surface. Goel and Mobayen [21] created an adaptive control law that eliminates the necessity for a priori knowledge of the system uncertainties' upper bounds. For nonlinear systems with external disturbances, Alattas et al [22] suggested an adaptive non-singular fast terminal SMC with integral surface and a novel adaptive rate to relieve the chattering problem.…”

Online Frequency Estimation on a Building-like Structure Using a Nonlinear Flexible Dynamic Vibration Absorber

“…Several robust control design methodologies could then be used for synthesis of active dynamic vibration absorbers [11,12]. A sliding mode control is another alternative to be considered in the design of active vibration control schemes [13,14]. In this regard, a proportional integral derivative (PID) type nonsingular fast terminal sliding mode control method is presented in [13].…”

“…A sliding mode control is another alternative to be considered in the design of active vibration control schemes [13,14]. In this regard, a proportional integral derivative (PID) type nonsingular fast terminal sliding mode control method is presented in [13]. A barrier function-based adaptive nonsingular sliding mode control technique is introduced in [14].…”