Continuous nonsingular terminal sliding mode control based on adaptive sliding mode disturbance observer for uncertain nonlinear systems

Rabiee, Hamid R.; Ataei, Mohammad; Ekramian, Mohsen

doi:10.1016/j.automatica.2019.108515

Cited by 181 publications

(121 citation statements)

References 18 publications

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“…By substituting (22) into (20), it can be verified that the initial sliding variable s(0) = 0 which implies that the control system is enforced to start on the sliding surface at the initial time such that the reaching time is eliminated [19]. Since the initial states of the 4WI-SbW system are available in practice, σ I (0) can be calculated by…”

Section: A Construction Of the So-rtsm Controllermentioning

confidence: 99%

“…As the main drawback of SMC, severe chattering may damage the mechanical structure or even make the system unstable. There exist several ways in the literatures to alleviate this phenomenon, e.g., boundary layer technique [21], disturbance compensation [22], filter technique [23], etc. The widely used boundary layer technique can lead to the loss of the invariance that defacts the control accuracy [21].…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Second Order Recursive Terminal Sliding Mode Control for a Four-Wheel Independent Steer-by-Wire System

2020

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An adaptive second order recursive terminal sliding mode (SO-RTSM) is developed for the steering angle control of a four-wheel independent steer-by-wire (4WI-SbW) system. A recursive sliding mode structure is presented based on which the reaching phase is eliminated. Moreover, the finite time convergence of the tracking error is guaranteed compared to common integral sliding mode control (ISMC). Furthermore, to suppress chattering, instead of a first-order sliding mode used in a conventional ARTSM controller, a second order nonsingular terminal sliding mode is adopted such that reaching control input is obtained in an integral form. The advantage of the proposed controller is that the chattering can be effectively reduced without decreasing the control accuracy. Experiments are carried out on a real 4WI-SbW vehicle to demonstrate the fast convergence rate and small chattering of the proposed controller. INDEX TERMS Four-wheel independent steer-by-wire (4WI-SbW), recursive terminal sliding mode (RTSM), second order, chattering, adaptive control.

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Section: A Construction Of the So-rtsm Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive Second Order Recursive Terminal Sliding Mode Control for a Four-Wheel Independent Steer-by-Wire System

2020

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“…where is the observer gain matrix [28], and denotes the estimate (or prediction) of is made using measurements available at time . The lumped uncertainty is:…”

Section: A Problem Formulationmentioning

confidence: 99%

“…Recently, several robust control approaches have been proposed to attenuate the undesired effects caused by the disturbances, uncertainties or the nonlinearities. Various methods applied in practical control systems, such as terminal sliding mode control [19], [20], adaptive super twisting terminal sliding mode control [21], [22], Fast terminal sliding mode control (FTSMC) [23], Nonsingular FTSMC [24], Adaptive nonsingular FTSMC [25], [26], [27], Continuous nonsingular FTSMC [28], Finite-time adaptive integral backstepping FTSMC [29]. The observer-model following design objective is to develop a control scheme which forces the plant-observer dynamics to follow the dynamics of a reference (ideal) model.…”

Section: Introductionmentioning

confidence: 99%

Robust Control Design using Discrete Sliding Mode Control for Higher Order Uncertain Systems

Patil,

Patel

2020

IJEAT

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This paper considers a tracking problem on discrete-time higher-order linear time-delay systems. The improved observer-model following sliding mode controller (OMF-SMC) is proposed. The combination uses a classical Luyenberger observer based controller to achieve predefined process output and sliding mode controller is added to assure the robustness despite of uncertainty and external disturbances. To show the effectiveness of proposed method, four error performance indices, maximum peak overshoot and settling time are considered rigorously. The simulations results on the non-oscillatory, moderate oscillatory, integrating, unstable and non-minimum phase system demonstrates that the proposed approach performs better compared with classical PID controller, continuous and discrete sliding mode controllers.

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“…Based on this point, the adaptive nonsingular fast terminal sliding mode control (ANFTSMC) integrates all advantages of the AC and NTSMC methods, and becomes a new research hotspot [ 8 , 9 , 15 , 16 , 18 , 21 , 23 , 26 , 29 , 30 , 31 , 32 , 33 , 34 , 35 , 36 , 37 , 38 ]. Although these algorithms have achieved good results, there are still some problems to further studied: (i) Most methods [ 9 , 15 , 16 , 18 , 21 , 26 , 29 , 31 , 34 ] have been demonstrated only in the simulations but not applied in the practical systems under input saturation constraint; (ii) Some methods [ 8 , 23 , 30 ] depend on the dynamic model, resulting in poor applicability under disturbances; (iii) The researchers rarely have clarified the convergence time after introducing adaptive control; (iv) These works are difficult to achieve high performance both in the low-speed tracking and large-angle swing scanning applications. It is worth noting that a good solution to the second problem in [ 7 ], the authors designed an adaptive sliding mode control based on the ESO for an electro-mechanical servo system with unknown friction and input saturation constraint.…”

Section: Introductionmentioning

confidence: 99%

High Performance Both in Low-Speed Tracking and Large-Angle Swing Scanning Based on Adaptive Nonsingular Fast Terminal Sliding Mode Control for a Three-Axis Universal Inertially Stabilized Platform

Wang

Yang

Kuang

et al. 2020

Sensors

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In order to improve the performance in the practical engineering applications including so called low-speed video tracking and large-angle swing scanning imaging at the same time for a three-axis universal inertially stabilized platform (UISP), we propose an adaptive nonsingular fast terminal sliding mode control (ANFTSMC) strategy subjected to the uncertain disturbances and input saturation constraints. First of all, a second-order dynamic model is established with uncertain disturbances and input saturation constraints. Secondly, a nonsingular fast terminal sliding mode controller (NTSMC) is constructed to ensure the system error converges to zero fast in a finite time; meanwhile, a novel reaching law based on a modified normal distribution function is designed to adjust the control gain. Thirdly, an adaptive control law is designed to online estimate the parameters of the lumped uncertain disturbances. Additionally, the stability of the control system is proved by Lyapunov theory. Finally, extensive comparative simulations and experiments are carried out, the results comprehensively show the effectiveness and superiority of the proposed control method, which can accelerate convergence, weaken the chattering, and has the better control accuracy and robust performance both in the low-speed tracking and large-angle swing scanning applications. Moreover, the exact dynamic model and the prior knowledge of the upper bounds of the disturbances are not required during the procedure of the controller design, which make it have more extensive application value in practical engineering.

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Continuous nonsingular terminal sliding mode control based on adaptive sliding mode disturbance observer for uncertain nonlinear systems

Cited by 181 publications

References 18 publications

Adaptive Second Order Recursive Terminal Sliding Mode Control for a Four-Wheel Independent Steer-by-Wire System

Adaptive Second Order Recursive Terminal Sliding Mode Control for a Four-Wheel Independent Steer-by-Wire System

Robust Control Design using Discrete Sliding Mode Control for Higher Order Uncertain Systems

High Performance Both in Low-Speed Tracking and Large-Angle Swing Scanning Based on Adaptive Nonsingular Fast Terminal Sliding Mode Control for a Three-Axis Universal Inertially Stabilized Platform

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