Disturbance observer-based prescribed performance super-twisting sliding mode control for autonomous surface vessels

Zhang, Chang; Yu, Shuanghe

doi:10.1016/j.isatra.2022.09.025

Cited by 16 publications

(1 citation statement)

References 33 publications

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“…Reference [18] designed a FTC scheme and verified its effectiveness through simulation. Reference [19] further introduces an FTDO. Reference [24] implements the design of an adaptive full-state constraint controller for uncertain multiple-input multiple-output underactuated systems.…”

Section: Introductionmentioning

confidence: 99%

Underactuated Surface Vessels Trajectory Tracking Control Based on Concise Finite-Time Disturbance Observer Under False Data Injection Attacks

Sun

2024

IEEE Access

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This paper studies the trajectory tracking control problem of underactuated surface vessels (USVs) under false data injection attacks (FDIAs). We propose a concise nonlinear finite-time disturbance observer (FTDO) to compensate composite disturbances caused by FDIAs and external disturbances. An online approximator is designed using adaptive techniques to compensate for the dynamic uncertainties of the system. In addition, we consider the limit of input saturation at the control input. Under the framework of the backstepping method, this paper designs a practical finite-time control (FTC) method and performs a rigorous theoretical analysis of it through the Lyapunov stability theory. Finally, the effectiveness of the proposed control scheme was verified through simulation. This research provides a feasible solution to the trajectory tracking problem of underactuated vessels in FDIAs attack environment and provides theoretical support for further research in related fields.

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Section: Introductionmentioning

confidence: 99%

Underactuated Surface Vessels Trajectory Tracking Control Based on Concise Finite-Time Disturbance Observer Under False Data Injection Attacks

Sun

2024

IEEE Access

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A Fixed‐Time Composite Control With Variable Exponent Coefficients for Stewart Parallel Mechanism Tracking in Task Space

Tang,

Gao

2024

Intl J Robust & Nonlinear

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To improve tracking control performance in the task space of the Stewart parallel mechanism (SPM) with uncertainties of modeling errors and external disturbances in our developed rust removal sandblasting robot for the surface roughness processing of a bridge's steel box girder, a fixed‐time composite control with variable exponent coefficients (VEC‐FxTCC) approach for multi‐input multi‐output (MIMO) nonlinear robotic systems is developed. Firstly, by devising only one regulation term with a variable exponent coefficient (VEC) function in the system's Lyapunov differential inclusion, a novel VEC fixed‐time stability theorem for the MIMO nonlinear dynamic system is proposed and proven. Secondly, based on the proposed theorem, VEC‐FxTCC is formed by designing and combining a VEC fixed‐time disturbance observer (VEC‐FxTDOB) and a VEC fixed‐time super‐twisting control (VEC‐FxTSTC), in order to achieve fast, steady, and uniformly bounded‐time convergence for SPM's end‐effector tracking, while avoiding singularity. Finally, the effectiveness of the proposed VEC‐FxTCC approach is validated through the simulations and the rust removal sandblasting robot prototype experiments.

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Active adaptive continuous nonsingular terminal sliding mode controller for hypersonic vehicle

Guo

Ding

Yue

2023

Aerospace Science and Technology

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Disturbance observer-based prescribed performance super-twisting sliding mode control for autonomous surface vessels

Cited by 16 publications

References 33 publications

Underactuated Surface Vessels Trajectory Tracking Control Based on Concise Finite-Time Disturbance Observer Under False Data Injection Attacks

Underactuated Surface Vessels Trajectory Tracking Control Based on Concise Finite-Time Disturbance Observer Under False Data Injection Attacks

A Fixed‐Time Composite Control With Variable Exponent Coefficients for Stewart Parallel Mechanism Tracking in Task Space

Active adaptive continuous nonsingular terminal sliding mode controller for hypersonic vehicle

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