Improved fast global sliding mode control based on the exponential reaching law

Xiu, Chunbo; Hou, Jun; Xu, Guowei; Zang, Yakun

doi:10.1177/1687814016687967

Cited by 16 publications

(7 citation statements)

References 21 publications

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“…Global sliding-mode controls can cancel not only the reaching mode but also reduce the chattering and overcome the disturbance and time delay; hence, some control strategies have been proposed and successfully applied for quadrotor trajectory tracking [17], [18], [19]. Furthermore, to enhance the overall tracking performance, an improved fast global SMC was designed to reach linear sliding mode in a finite time [20]. In [21], a global dynamic fast terminal SMC technique was used to design a quadrotor position and attitude controller.…”

Section: Introductionmentioning

confidence: 99%

Finite-Time Rapid Global Sliding-Mode Control for Quadrotor Trajectory Tracking

Ahn

You

2023

IEEE Access

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To enhance the position and attitude-control of quadrotor for trajectory tracking, we propose a fast decay function utilizing exponential property to improve the performance of global sliding-mode control, allowing the initial value to quickly reach equilibrium. The main research is focused on deriving the finite settling time using the proposed decay function and presenting a detailed calculation process, instead of making a simple modification to a monotonic exponential-decay function. Moreover, we adopt an adaptive control law to ensure the robustness of the quadrotor, even without knowing the upper bound for disturbances. In addition, we perform time-varying mass simulations because the quadrotor's load mass may change during maneuvering. Furthermore, using the Lyapunov function, the stability of the entire closedloop system is ensured by the step-by-step stabilization of each subsystem. The simulation results show that the rapid global sliding-mode control (RGSMC) we designed is more effective than the conventional global sliding-mode control and adaptive sliding mode control with respect to stabilization and tracking against external disturbances. Hence, the fast decay property of the proposed global function is verified.

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Section: Introductionmentioning

confidence: 99%

Finite-Time Rapid Global Sliding-Mode Control for Quadrotor Trajectory Tracking

Ahn

You

2023

IEEE Access

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“…Citation information: DOI 10.1109/ACCESS.2021.3064960, IEEE Access [在此处键入] reaches the sliding surface, and robustness is not guaranteed during the reaching phase. The global sliding mode control is used to eliminate the reaching phase, the critical point is to keep the system state trajectory on the sliding mode surface, so the control scheme has better robustness [24][25][26][27][28]. However, there are few papers on global sliding mode control used in antilock braking systems.…”

Section: Introductionmentioning

confidence: 99%

Global Sliding Mode Control for Nonlinear Vehicle Antilock Braking System

Wang

2021

IEEE Access

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In order to further improve the braking performance of the nonlinear antilock braking system (ABS), an improved global sliding mode control scheme is presented. First, a nonlinear global sliding mode surface is designed. The method can eliminate the reaching phase compared with conventional linear sliding mode surface, and guarantee the system robustness during the whole control process. Then, a novel control law is proposed to satisfy the sliding mode reaching condition, and the theoretical proof is given. Simulation results demonstrate that the proposed global sliding mode control scheme enables the wheel slip-ratio to converge to optimal value quickly with the small oscillation, and has relatively short braking distance and braking time, which is very suitable to prevent the wheel from being locked during braking. The proposed global sliding mode control scheme is verified by joint simulation using MATLAB and CarSim, and shows good braking performance when the car is driving under extreme road conditions, which indicates the effectiveness of the proposed sliding mode control scheme. INDEX TERMS Antilock braking system (ABS), global sliding mode control, braking performance, slipratio, MATLAB and CarSim HONGWEI WANG was born in Tieling, Liaoning, China, in 1983. She received the B.S. degree in electrical engineering and automation from the Liaoning University of Technology, China, in 2004 and the B.S. degree in control theory and control engineering from the Northeastern University, China, in 2006 and the Ph.D. degree in control theory and control engineering from the Northeastern University, China, in 2009. Since 2009, she is currently an assistant professor with the school of control engineering, Northeastern University at Qinhuangdao. She has published about 40 papers, including 20 journal papers and one book chapter. Her research interests include vehicle safety control, sliding mode control, intelligent control and prediction control. SHAOWEN WU is currently pursuing the B.S. degree with Northeastern University at Qinhuangdao, Qinhuangdao, Hebei, China. He works with Hongwei Wang as a Student Researcher. His current research interests include robust control and intelligent control.

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“…In Liu and Sun (2006), a new control scheme consisting of both GSMC and integral backstepping control is proposed where the steady-state control accuracy is guaranteed by the integral backstepping control law and the global robustness can be obtained by GSMC. In Xiu et al (2017), a fast GSMC method is proposed to accelerate the response of the uncertain nonlinear system by changing the exponential decay function and its effectiveness has been verified.…”

Section: Introductionmentioning

confidence: 99%

A novel nonsingular terminal sliding mode control combined with global sliding surface for uncertain nonlinear second-order systems

Liu

Zhang

2019

Transactions of the Institute of Measurement and Control

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This paper proposes a novel nonsingular terminal sliding mode control combined with global sliding surface for a class of uncertain nonlinear second-order systems. The suggested control approach is developed based on the Lyapunov theory. The sliding mode reaching the sliding surface in finite time can be guaranteed. Furthermore, chattering phenomenon caused by the switching control action can be eliminated theoretically, and desirable control performance is realized. The simulation and tank test results for heave control of a remotely operated vehicle are presented to verify the effectiveness of the proposed method.

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Improved fast global sliding mode control based on the exponential reaching law

Cited by 16 publications

References 21 publications

Finite-Time Rapid Global Sliding-Mode Control for Quadrotor Trajectory Tracking

Finite-Time Rapid Global Sliding-Mode Control for Quadrotor Trajectory Tracking

Global Sliding Mode Control for Nonlinear Vehicle Antilock Braking System

A novel nonsingular terminal sliding mode control combined with global sliding surface for uncertain nonlinear second-order systems

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