Nonsingular decoupled terminal sliding-mode control for a class of fourth-order under-actuated nonlinear systems with unknown external disturbance

Rajaei, Arman; Vahidi-Moghaddam, Amin; Eghtesad, Mohammad; Necsulescu, D.; Yazdi, Ehsan Azadi

doi:10.1088/2631-8695/abb3b1

Cited by 9 publications

(12 citation statements)

References 51 publications

(57 reference statements)

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“…1. Based on the used coupling variable in the conventional DSMC, it can be seen this method can only guarantee the bounded uniform stability of the closed-loop system because the control input can only make the first sliding surface and its time derivative converge to zero and does not affect the performance of the second sliding surface, whereas all these papers stress the closed-loop system asymptotic stability [21][22][23][24][25][26][27]. Also, the papers have not provided any mathematical proof in this regard.…”

Section: Introductionmentioning

confidence: 99%

“…5. The use of the sign function in the DSMC structure causes undesirable chattering, which can reduce the drive's lifetime and overall system efficiency [21][22][23][24][25]. 6.…”

Section: Introductionmentioning

confidence: 99%

“…6. Most of the papers have used this method for regulation objectives in nonlinear systems, while the performance of this method in high-change desired trajectory tracking is problematic [21][22][23][24][25][26][27].…”

Section: Introductionmentioning

confidence: 99%

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A new fuzzy decoupled sliding mode control of flexible joint robotic manipulators based on the finite‐time observer in the presence of chaos with experimental validation

Nezhad,

Noiey,

Soltanpour

et al. 2023

IET Control Theory & Appl

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This paper presents a new fuzzy non‐singular fast terminal decoupled sliding mode control based on the finite‐time extended state observer for trajectory tracking control of flexible joint robot manipulators under chaos and uncertainty. First, a suitable chaotic reference is used in a synchronization mechanism to create chaos in the dynamics. Then, the essential modifications made to the conventional decoupled sliding mode control are introduced. A new coupling variable and a non‐singular fast terminal sliding surface are proposed in combination with an extended state observer. A complete convergence analysis is also performed for all the sliding surfaces. Furthermore, two fuzzy systems are designed in such a way that not only they can eliminate the chattering phenomenon but can also improve the convergence time without increasing the control input in a voltage‐based manner. The mathematical proof guarantees the finite‐time asymptotic stability of the closed‐loop control system under the proposed scheme for a class of under‐actuated systems in the presence of structured and un‐structured uncertainties. Finally, some simulations and experimental implementations as hardware‐in‐the‐loop are performed to evaluate the proposed method's performance. The proposed controller is an effective method, as confirmed by the numerical simulation results and experimental validation.

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Section: Introductionmentioning

confidence: 99%

“…5. The use of the sign function in the DSMC structure causes undesirable chattering, which can reduce the drive's lifetime and overall system efficiency [21][22][23][24][25]. 6.…”

Section: Introductionmentioning

confidence: 99%

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A new fuzzy decoupled sliding mode control of flexible joint robotic manipulators based on the finite‐time observer in the presence of chaos with experimental validation

Nezhad,

Noiey,

Soltanpour

et al. 2023

IET Control Theory & Appl

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“…In (Zhang et al, 2021), an adaptive fuzzy hierarchical SMC approach is designed for the switched nonlinear systems in the existence of actuator faults and parametric uncertainty, where the unknown uncertain functions are estimated via the fuzzy logic system. In (Rajaei et al, 2020), a nonsingular decoupled TSMC technique is recommended for the fourth-order nonlinear dynamical systems in the existence of unknown perturbations, where a finite-time disturbance observer is planned for estimation error. A fuzzy continuous super-twisting SMC stabilizer is provided in (Nguyen et al, 2020) for rotational inverted pendulum in the existence of parametric uncertainty and external perturbation.…”

Section: Introductionmentioning

confidence: 99%

Finite-time convergence of perturbed nonlinear systems using adaptive barrier-function nonsingular sliding mode control with experimental validation

Mofid

Amirkhani

Din

et al. 2022

Journal of Vibration and Control

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In this study, an adaptive barrier procedure is combined with nonsingular sliding mode control (SMC) technique at the aim of the fast stabilization of nonlinear system with external disturbances. It is verified that the barred function-based control law leads to the fast convergence of state errors to a region near origin. Furthermore, the suggested method eradicates the requirement for the knowledge of upper bounds of exterior perturbations which are frequently required in SMC scheme. The stability analysis confirms fast convergence of the error states to a predetermined region. In order to demonstrate the validity of the planned method, a mass-spring system is examined as the case study. Finally, simulation and experimental outcomes on a mass-spring system are given to prove the efficacy and success of the advised methodology.

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“…Consequently, many studies have been conducted to study the vibration behaviour of micro/nanobeams [31][32][33][34][35]. Furthermore, the analysis of vibration control is used to prevent the micro/nanobeams from damage and improve the performance and resolution of beams [36][37][38][39]. However, the measured dimensions of nanobeams may not be exact; therefore, the estimation analysis and robust controllers are useful to enhance the accuracy.…”

Section: Introductionmentioning

confidence: 99%

Adaptive prescribed‐time disturbance observer using nonsingular terminal sliding mode control: Extended Kalman filter and particle swarm optimization

Vahidi-Moghaddam

Rajaei

Ayati

et al. 2020

IET Control Theory & Appl

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In this study, adaptive prescribed finite-time stabilisation of uncertain single-input and single-output non-linear systems is considered in the presence of unknown states, unknown parameters, external load disturbance, and non-symmetric input saturation. A prescribed finite time disturbance observer is designed to approximate the unmeasured external disturbance. Also, a non-singular prescribed finite time terminal sliding mode control is proposed for the closed-loop control of the system with the non-symmetric input saturation. Extended Kalman filter algorithm is employed for the real-time estimations of the states and unknown parameters of the system. Moreover, a particle swarm optimisation algorithm is used to obtain the design parameters of the proposed disturbance observer and controller. To show the performance of designed control scheme, the proposed approach is employed to guarantee prescribed finite time stabilisation of non-linear vibration of a non-local strain gradient nanobeam. The Galerkin projection method is used to reduce the non-dimensional form of the governing non-linear partial differential equation of Euler-Bernoulli nanobeam to the ordinary differential equation. Finally, numerical simulations are performed to illustrate the effectiveness and performance of the developed adaptive control scheme for the vibration control of nanobeam in comparison with the conventional sliding mode control.

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Nonsingular decoupled terminal sliding-mode control for a class of fourth-order under-actuated nonlinear systems with unknown external disturbance

Cited by 9 publications

References 51 publications

A new fuzzy decoupled sliding mode control of flexible joint robotic manipulators based on the finite‐time observer in the presence of chaos with experimental validation

A new fuzzy decoupled sliding mode control of flexible joint robotic manipulators based on the finite‐time observer in the presence of chaos with experimental validation

Finite-time convergence of perturbed nonlinear systems using adaptive barrier-function nonsingular sliding mode control with experimental validation

Adaptive prescribed‐time disturbance observer using nonsingular terminal sliding mode control: Extended Kalman filter and particle swarm optimization

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