Finite‐time sliding mode stabilization using dirty differentiation and disturbance compensation

Furtat, Igor B.; Orlov, Yury; Fradkov, Alexander L.

doi:10.1002/rnc.4273

Cited by 18 publications

(7 citation statements)

References 29 publications

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“…Another controller used for comparison purposes, it is a finite-time sliding mode control that uses a disturbance compensator presented in [44]. In Figure 1 the results using the controller appears with the name FTSMC (finite-time sliding mode control), and from Figure 1 to Figure 10 the results appears in cyan color.…”

Section: Numerical Simulationsmentioning

confidence: 99%

“…where z = y− udt, h = 0.01, w = 2, µ = 1.5, and α = 0.2. These values were selected according to the tuning rule given in [44]. The last controller used for comparison purposes it is a continuous finite-time control based on terminal sliding mode presented in [45].…”

Section: Numerical Simulationsmentioning

confidence: 99%

“…In Figure 7 are displayed the sliding variables of the controllers let us notice that PID control does not have a sliding variable in its design. The estimated perturbationŵ is compared with the actual perturbation w in Figure 8, only the proposed control structure and the proposed in [44] consider uncertainty and disturbance compensation. In Figure 9 is shown the energy signal when applied different controllers to the closed-loop system.…”

Section: Numerical Simulationsmentioning

confidence: 99%

See 2 more Smart Citations

Robust Continuous Control for a Class of Mechanical Systems Based on Nonsingular Terminal Sliding Mode

2020

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In this paper is proposed a control structure for a class of mechanical systems; this structure consists of a continuous controller based on nonsingular terminal sliding mode control plus uncertainty and disturbance estimator. Closed-loop stability is proved by designing an adequate sliding surface and showing the existence of sliding modes by the fulfillment of the reaching law. A controllers comparison using the nonsingular terminal sliding mode, first-order sliding mode, PID, and the proposed control structure is carried out through numerical simulations of a pendulum system, where the l 2 index is used to measure the performance of the controllers. Moreover, real-time experiments are performed in a mechanical system with a pneumatic actuator. The theoretical, numerical, and experimental results validate the feasibility, performance, and robustness of the proposed control structure. INDEX TERMS Mechanical systems, nonsingular terminal sliding mode control, robust control, uncertainty and disturbance estimator.

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Section: Numerical Simulationsmentioning

confidence: 99%

Section: Numerical Simulationsmentioning

confidence: 99%

Section: Numerical Simulationsmentioning

confidence: 99%

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Robust Continuous Control for a Class of Mechanical Systems Based on Nonsingular Terminal Sliding Mode

2020

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“…1. The case in which the conventional assumptions on the knowledge of the uncertainty bounds are relaxed (Furtat, Orlov, & Fradkov, 2019) is left as an interesting future endeavour.…”

Section: Notementioning

confidence: 99%

Event-triggered variable structure control

Cucuzzella

Incremona

Ferrara

2019

International Journal of Control

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This paper presents a novel variable structure control (VSC) algorithm of event-triggered (ET) type, capable of dealing with a class of nonlinear uncertain systems. By virtue of its ET nature, the algorithm can be used as the kernel of a robust networked control system. The design objective is indeed to reduce the number of transmissions over the network. The proposed ET-VSC also guarantees appropriate robustness properties, even in the presence of delayed transmissions. It is theoretically analysed, proving that the sliding variable associated with the controlled system results in being ultimately confined into a boundary layer of prescribed amplitude. As a consequence, it is proved that the state of the considered uncertain nonlinear system is ultimately bounded as well. Moreover, a lower bound for the time elapsed between consecutive triggering events is provided, which excludes the notorious Zeno behaviour. Finally, the designed ET-VSC control scheme is satisfactorily assessed in simulation. ARTICLE HISTORY

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“…Single order sliding mode (SOSM) controllers are a good alternative because of their properties such as finite-time convergence to the origin in spite of bounded, nonvanishing external disturbances and parametric uncertainties. Moreover, a smooth version of the well known "twisting" controller has been under study considering these properties (see [2], [3], [8], [9], [11] and references quoted therein). In this paper, a generalization of the twisting algorithm plus a proportionalderivative (PD) controller is studied in order to design a robust, finite-time stabilizing set of feedback controllers.…”

Section: Introductionmentioning

confidence: 99%

Robustness Analysis of a Set of Second Order Sliding Modes

Santiesteban¹,

Carretero²

2020

Progress in Canadian Mechanical Engineering. Volume 3

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In this paper, a set of second order sliding mode controllers affected by disturbances with linear and nonlinear growth is under study. Mechanical systems described using a double integrator affected by external perturbations are considered in this work. A preliminary study shows that, using a nonsmooth strict Lyapunov function, it is possible to ensure finite-time stability and estimate the convergence time of the closed loop system in spite of disturbances that grow linearly and nonlinearity with respect to the state. The performance and robustness properties of the feedback synthesis are illustrated with numerical experiments solving the tracking problem for a one-link pendulum as a test system. Three experiments are carried out: the nominal system, the system affected by nonvanishing perturbations and the system affected by linearly and nonlinearity growing perturbations with respect to the state.

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Finite‐time sliding mode stabilization using dirty differentiation and disturbance compensation

Cited by 18 publications

References 29 publications

Robust Continuous Control for a Class of Mechanical Systems Based on Nonsingular Terminal Sliding Mode

Robust Continuous Control for a Class of Mechanical Systems Based on Nonsingular Terminal Sliding Mode

Event-triggered variable structure control

Robustness Analysis of a Set of Second Order Sliding Modes

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