Nonsingular terminal sliding-mode control of a tractor–trailer system

Binazadeh, Tahereh; Shafiei, Mohammad Hossein

doi:10.1080/21642583.2014.890552

Cited by 11 publications

(15 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The first subsystem (5) has been described in the canonical form of nonlinear SISO system. To design the fast terminal sliding control law for this subsystem, according to the conventional procedure of TSMC studied in the existing references such as [2,21,[34][35][36], recursive sliding surfaces should be defined as:…”

Section: Recursive Terminal Sliding Mode Controlmentioning

confidence: 99%

“…Utilizing SMC for controlling the NH systems have been reported in several papers [2,6,9,21,24,34,36]. In these works, backstepping-based second-order SMC [9], backstepping-based adaptive SMC [6] have been used to control the NH systems in presence of uncertainties.…”

Section: Introductionmentioning

confidence: 99%

“…In these works, backstepping-based second-order SMC [9], backstepping-based adaptive SMC [6] have been used to control the NH systems in presence of uncertainties. Moreover, in [2,21,24,34,36], TSMC has been proposed for stabilizing the NH systems with chained form of state equations. In addition, the intelligent control strategies such as fuzzy and neural controllers and their combinations with SMC-based methods have also been widely proposed for trajectory tracking problems [5, 8, 15, 25-27, 32, 42].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Terminal Sliding Mode Controller Tuned Using Evolutionary Algorithms for Finite-Time Robust Tracking Control in a Class of Nonholonomic Systems

Rezaie

Ghasemi²,

Rafiee³

2018

ITC

View full text Add to dashboard Cite

This paper deals with utilizing a recursive fast terminal sliding mode control method for finite-time robust tracking in a class of nonholonomic systems described by an extended chained form of differential equations. To enhance the performance of the proposed method, the constrained parameters of the controller are exactly tuned using evolutionary algorithms such that the tracking error reaches zero in a short time while chattering is significantly reduced. A comparative study is also presented among the applied evolutionary algorithms, namely, differential evolution, bat optimization, cuckoo optimization and bacterial foraging optimization. Applying the proposed design method leads to a considerable reduction in convergence time of the states as well as the chattering phenomenon. It is shown that the method is robust against disturbance in the input of the system. Numerical simulations for a well-known nonholonomic system, i.e., wheeled mobile robot demonstrate effective improvement in the results compared with conventional terminal sliding mode control method.

show abstract

Section: Recursive Terminal Sliding Mode Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Terminal Sliding Mode Controller Tuned Using Evolutionary Algorithms for Finite-Time Robust Tracking Control in a Class of Nonholonomic Systems

Rezaie

Ghasemi²,

Rafiee³

2018

ITC

View full text Add to dashboard Cite

show abstract

“…Shafiei shafiei@sutech.ac.ir 1997; Fierro & Lewis, 1995;Do, 2013), tracking controllers for this robot using backstepping structure and the Lyapunov based methods have been proposed. In (Yang & Kim, 1999;Binazadeh & Shafiei, 2014a;Chwa, 2004), tracking controllers are designed for a nonholonomic mobile robot, using the sliding mode control method in polar coordinates with bounded external disturbances. Moreover, in (Miyasato, 2008), using nonlinear H ∞ control, an adaptive tracking controller has been designed for a robot with uncertainties in the mass, moment of inertia and friction constants of the wheels.…”

Section: Introductionmentioning

confidence: 99%

Design of a robust tracking controller for a nonholonomic mobile robot with side slipping based on Lyapunov Redesign and nonlinear H_∞ methods

Shafiei

Monfared

2018

Systems Science & Control Engineering

Self Cite

View full text Add to dashboard Cite

In this paper, robust control of nonholonomic mobile robots is considered which is more complex with respect to holonomic types, due to fewer degrees of freedom in their model. In addition, side slipping is considered which disturbs the nonholonomic constraint adversely. In previous researches, the slip is either estimated by an estimator or is measured using additional sensors. In this paper, the Kanayama transformation is modified such that the model of the robot only includes matched disturbances. Then, a robust tracking controller is designed using the Lyapunov redesign method when only the upper bound of the side slip is known. Moreover, in order to compare the performance of the proposed controller, the nonlinear H ∞ control is also developed for this robot. Finally, the performance of these two controllers is compared and the simulation results show the appropriate efficiency of the proposed controllers.

show abstract

“…The basic SMC cannot guarantee the convergence of the states of the closed-loop system to the equilibrium point in finite-time. In order to tackle this problem, the terminal sliding mode (TSM) control technique has been proposed to address the finite-time stabilization issue (Binazadeh & Shafiei, 2014b;Rath, Defoort, Karimi, & Veluvolu, 2017).…”

Section: Introductionmentioning

confidence: 99%

Robust finite-time synchronization of uncertain chaotic systems: application on Duffing-Holmes system and chaos gyros

Mohammadpour

Binazadeh

2018

Systems Science & Control Engineering

View full text Add to dashboard Cite

This paper considers the finite-time synchronization of chaotic systems in the presence of model uncertainties and/or external disturbances. The synchronization happens between the two nonlinear master and slave systems. Control law is designed in such a way that the state variables of the slave system follow the state variables of the master system in the presence of uncertainties and external disturbances. In order to design a robust finite-time controller, first, a novel terminal sliding surface is proposed and its finite-time convergence to zero is analytically proved. Then a terminal sliding mode controller is designed which can conquer the uncertainties and guarantees the finitetime stability of the sliding motion equations. In this regard, a theorem is proposed and according to the Lyapunov approach it is proved that the synchronization happenes in finite-time. Additionally, in order to show the applicability of the proposed controller, it is applied on two practical systems, the Duffing-Holmes system and chaotic gyroscope system. Computer simulations verify the theoretical results and also display the effective performance of the proposed controller. ARTICLE HISTORY

show abstract

Nonsingular terminal sliding-mode control of a tractor–trailer system

Cited by 11 publications

References 11 publications

Terminal Sliding Mode Controller Tuned Using Evolutionary Algorithms for Finite-Time Robust Tracking Control in a Class of Nonholonomic Systems

Terminal Sliding Mode Controller Tuned Using Evolutionary Algorithms for Finite-Time Robust Tracking Control in a Class of Nonholonomic Systems

Design of a robust tracking controller for a nonholonomic mobile robot with side slipping based on Lyapunov Redesign and nonlinear H_∞ methods

Robust finite-time synchronization of uncertain chaotic systems: application on Duffing-Holmes system and chaos gyros

Contact Info

Product

Resources

About

Nonsingular terminal sliding-mode control of a tractor–trailer system

Cited by 11 publications

References 11 publications

Terminal Sliding Mode Controller Tuned Using Evolutionary Algorithms for Finite-Time Robust Tracking Control in a Class of Nonholonomic Systems

Terminal Sliding Mode Controller Tuned Using Evolutionary Algorithms for Finite-Time Robust Tracking Control in a Class of Nonholonomic Systems

Design of a robust tracking controller for a nonholonomic mobile robot with side slipping based on Lyapunov Redesign and nonlinear H∞ methods

Robust finite-time synchronization of uncertain chaotic systems: application on Duffing-Holmes system and chaos gyros

Contact Info

Product

Resources

About

Design of a robust tracking controller for a nonholonomic mobile robot with side slipping based on Lyapunov Redesign and nonlinear H_∞ methods