Decentralized adaptive terminal sliding mode control design for nonlinear connected system in the presence of external disturbance

Abstract

In this article, a decentralized adaptive integral terminal sliding mode control is presented for a class of nonlinear connected systems. It is assumed that the system is also confronted by unknown disturbances, while the interconnections between subsystems are assumed unknown. An integral terminal sliding surface for each subsystem is locally considered to guarantee the stability of the closed-loop system, and to increase the convergence speed during a tracking task. The unknown interconnections between subsystems are estimated using adaptive rules. An appropriate Lyapunov candidate is chosen to perform global stability analysis. In this regard, design parameters are chosen such that the closed-loop stability is ensured. Performance of the proposed method for a mechanical connected system, including two chaotic subsystems, is shown through simulations.

Robust Adaptive Super-Twisting Sliding Mode Stability Control of Underactuated Rotational Inverted Pendulum With Experimental Validation

“…In the first subsystem, the stability of position and angular velocity relevant to the arm of RIP system is investigated. In addition, in the second subsystem, the main goal of control is the balancing of pendulum to be stand upright [19][20][21][22]. Therefore, some control methods including proportional-integral-derivative (PID), linear quadratic regulator (LQR), linear quadratic Gaussian (LQG), sliding mode control (SMC), adaptive control, fuzzy logic and neural network techniques have been applied for both stability and balancing control of RIP systems [23][24][25][26][27][28].…”

Security switching control of cyber-physical system with incremental quadratic constraints under denial-of-service attack

“…Considering the fact that nonlinear properties is inherent in many industrial processes, it is also a meaningful issue to consider different types of nonlinear plants in the physical layers of CPSs (Gu et al, 2020; Ranjbar et al, 2020, 2021; Yu and Yuan, 2020). Common Lipschitz and one-sided Lipschitz (see examples in Zhang et al (2016)) systems can be described in the form of incremental quadratic constraints δ QC .…”

Improving trajectory tracking performance of autonomous farming vehicles using adaptive extended state observer and finite-time technique

“…The possible wheel slip can be treated as an external disturbance (Matveev et al, 2013) or estimated as a non-negligible dynamic influence (Bayar et al, 2016; Guo et al, 2018; Han et al, 2019). Dealing with external disturbance usually includes the disturbance-observer based control (DOBC) technique (Li et al, 2020; Lu et al, 2020; Zhang et al, 2020) and some advanced robust control technique such as sliding mode control (SMC) (Ranjbar et al, 2021; Tofifigh et al, 2021). For example, Izadbakhsh and Khorashadizadeh (2016; Izadbakhsh et al, 2018) have presented a so-called model-free observer based on universal function approximation techniques for uncertainty estimation of the tracking control of robots.…”