Finite-time nonsingular terminal sliding mode control: A time setting approach

Shiri, Reza; Nekoo, Saeed Rafee; Korayem, M. H.; Kazemi, Shahab

doi:10.1177/0959651819844339

Cited by 4 publications

(14 citation statements)

References 21 publications

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“…A Van der Pole oscillator is simulated and compared with two other controllers. The statespace representation of the disturbed Van der Pole equation is [12]:…”

Section: -1 Illustrative Examplementioning

confidence: 99%

“…For the 6s final time, the proposed TSMC improved Ref. [12], for 𝑡 f = 4s, the proposed TSMC response has been validated. Setting the final time as an input with two sliding surfaces was proposed in Ref.…”

Section: -1 Illustrative Examplementioning

confidence: 99%

“…This current work intends to find a finite-time controller with robust characteristics. The TSMC is a good selection though the final time cannot be set as a control input parameter [12]. Shiri et al solved the problem by dividing the sliding surface into two linear (conventional SMC) and nonlinear sections (nonsingular TSMC) [12].…”

Section: Introductionmentioning

confidence: 99%

“…The TSMC is a good selection though the final time cannot be set as a control input parameter [12]. Shiri et al solved the problem by dividing the sliding surface into two linear (conventional SMC) and nonlinear sections (nonsingular TSMC) [12]. Then it was possible to define the final time as an input to the control system.…”

Section: Introductionmentioning

confidence: 99%

“…On the contrary to Ref. [12], here in this work, one nonlinear sliding surface is considered. To have a command over the final time, an optimal gain of the state-dependent differential Riccati equation (SDDRE) is used.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Combination of terminal sliding mode and finite-time state-dependent Riccati equation: Flapping-wing flying robot control

Nekoo

Acosta

Ollero

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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A novel terminal sliding mode control is introduced to control a class of nonlinear uncertain systems in finite time. Having command on the definition of the final time as an input control parameter is the goal of this work. Terminal sliding mode control is naturally a finite-time controller though the time cannot be set as input, and the convergence time is not exactly known to the user before execution of the control loop. The sliding surface of the introduced controller is equipped with a finite-time gain that finishes the control task in the desired predefined time. The gain is found by partitioning the state-dependent differential Riccati equation gain, then arranging the sub-blocks in a symmetric positive-definite structure. The state-dependent differential Riccati equation is a nonlinear optimal controller with a final boundary condition that penalizes the states at the final time. This guides the states to the desired condition by imposing extra force on the input control law. Here the gain is removed from standard state-dependent differential Riccati equation control law (partitioned and made symmetric positive-definite) and inserted into the nonlinear sliding surface to present a novel finite-time terminal sliding mode control. The stability of the proposed terminal sliding mode control is guaranteed by the definition of the adaptive gain of terminal sliding mode control, which is limited by the Lyapunov stability condition. The proposed approach was validated and compared with state-dependent differential Riccati equation and conventional terminal sliding mode control as independent controllers, applied on a van der Pol oscillator. The capability of the proposed approach of controlling complex systems was checked by simulating a flapping-wing flying robot. The flapping-wing flying robot possesses a highly nonlinear model with uncertainty and disturbance caused by flapping. The flight assumptions also limit the input law significantly. The proposed terminal sliding mode control successfully controlled the illustrative example and flapping-wing flying robot model and has been compared with state-dependent differential Riccati equation and conventional terminal sliding mode control.

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“…A Van der Pole oscillator is simulated and compared with two other controllers. The statespace representation of the disturbed Van der Pole equation is [12]:…”

Section: -1 Illustrative Examplementioning

confidence: 99%

Section: -1 Illustrative Examplementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Combination of terminal sliding mode and finite-time state-dependent Riccati equation: Flapping-wing flying robot control

Nekoo

Acosta

Ollero

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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Soft-Landing of Multi-Rotor Drones using a Robust Nonlinear Control and Wind Modeling

Nekoo

Acosta

Heredia

et al. 2021

2021 International Conference on Unmanned Aircraft Systems (ICUAS)

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Grasping, manipulation, and inspection by multirotor systems require soft landing without any bumps; hence, the one-shot landing subject is critical due to aerodynamics effects under a multirotor unmanned aerial vehicle (UAV). One of the tasks in the HYFLIERS project is landing on a rack of pipes for inspection, mainly measurement of the pipe thickness and corrosion. The rack of pipes generates an unknown disturbance caused by the induced airflow by the propellers during the landing phase. The modeling of this problem is developed for two cases, landing on the ground and rack of pipes. The ground effect modeling is straightforward; however, the rack of pipes imposes more uncertainty on the system modeling. The source of aerodynamics disturbance also could be either external wind or the one caused by the UAV's propellers near the pipes or ground. This work proposes a solution for the one-shot landing of a quadrotor considering the ground effect. First, the induced wind by the rotors near the ground is computed and then the reflection model of that near the ground is defined. Modeling of the quadrotor considering the wind in the environment is done. Next, the reflected wind by the ground is set in the wind model of the system. The uncertainty in the modeling exists due to interference of airflow under the UAV and behavior of that, so a robust nonlinear control is selected to control the system. The correction gain of the sliding mode controller was defined based on the steady-state thrust that plays the role of an upper bound of uncertainty. A simulation has been successfully done to present the advantages of the soft landing method considering the ground effect. The resultant input thrust decreased smoothly near the pipes that compensated the ground effect thrust.

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Application of Combined Finite-time State-Dependent Riccati Equation Terminal Sliding Mode Control to Robotic Manipulators

Nasiri,

Fakharian,

Menhaj

2024

2024 10th International Conference on Artificial Intelligence and Robotics (QICAR)

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Finite-time nonsingular terminal sliding mode control: A time setting approach

Cited by 4 publications

References 21 publications

Combination of terminal sliding mode and finite-time state-dependent Riccati equation: Flapping-wing flying robot control

Combination of terminal sliding mode and finite-time state-dependent Riccati equation: Flapping-wing flying robot control

Soft-Landing of Multi-Rotor Drones using a Robust Nonlinear Control and Wind Modeling

Application of Combined Finite-time State-Dependent Riccati Equation Terminal Sliding Mode Control to Robotic Manipulators

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