Robust adaptive finite-time tracking control of uncertain mechanical systems with input saturation and deadzone

Wang, Baofang; Sheng, Li; Chen, Qingwei

doi:10.1177/0142331218767490

Cited by 11 publications

(2 citation statements)

References 46 publications

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“…In addition, the global finite-time stability of x = 0 is ensured if V ( bold-italicx ) is radially unbounded onto Γ = R n (Abooee and Arefi, 2019; Abooee et al, 2017; Bhat and Bernstein, 2000; Wang et al, 2019a) ▪.…”

Section: Basic Mathematical Conceptionmentioning

confidence: 99%

Finite-time sliding mode control for a 3-DOF fully actuated autonomous surface vehicle

Abooee

Mehrizi

Arefi

et al. 2020

Transactions of the Institute of Measurement and Control

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This paper deals with the finite-time trajectory tracking problem for a typical 3-DOF (degree of freedom) autonomous surface vehicle (ASV) subjected to parametric uncertainties and environmental disturbances. Based on the nonsingular terminal sliding mode control (NTSMC) method, several separate classes of robust control inputs are designed to exactly steer all position states of the 3-DOF AVS to the desired paths during alterable finite times. By exploiting the Lyapunov stability theorem and using mathematical analysis, it is proven that all classes of designed robust control inputs are able to fulfill the mentioned finite-time tracking aim. Moreover, three applicable formulas (represented as several nonlinear inequalities) are extracted to determine the required total finite times for the suggested control schemes. Lastly, all designed control methods are numerically tested onto a benchmark 3-DOF AVS called CyberShip II. Provided computer-based numerical simulations (using MATLAB software) depicted the acceptable performance of the proposed control techniques.

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Section: Basic Mathematical Conceptionmentioning

confidence: 99%

Finite-time sliding mode control for a 3-DOF fully actuated autonomous surface vehicle

Abooee

Mehrizi

Arefi

et al. 2020

Transactions of the Institute of Measurement and Control

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“…It usually appears in mechanical systems where the actuator is less than the control degree of freedom. It is widely applied in space robots, underwater robots, structural flexible robots, bridge cranes and other practical systems, and has published many papers on underactuated system control [1][2][3][4][5][6][7][8][9][10][11][12]. In a nutshell, controller design and stability analysis of nonlinear underactuated dynamic systems have always been an important research field.…”

Section: Introductionmentioning

confidence: 99%

Second-Order Hierarchical Fast Terminal Sliding Model Control for a Class of Underactuated Systems Using Disturbance Observer

Wei¹

2019

ACIS

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A second-order hierarchical fast terminal sliding mode control method based on disturbance observer (DOSHFTSM) is proposed for a class of fourth-order underactuated systems. In the first step, the fourth-order underactuated system is divided into two subsystems, and the integral sliding surface is designed for each subsystem. Then, the first-order fast terminal sliding surface is defined by using the integral sliding surface and its derivatives of each subsystem, and the switching control items of the system are designed according to the first-order fast terminal sliding surface of the subsystem. Secondly, the second-order sliding surface is designed by using the first-order fast terminal sliding surface of each subsystem. On the premise of ensuring the stability of Lyapunov, the switching control term is designed by using the variable coefficient double power reaching law to eliminate the system jitter. Finally, based on the principle of hyperbolic tangent nonlinear tracking differentiator, a hyperbolic tangent nonlinear disturbance observer (TANH-DOC) is designed to estimate the uncertainties and external disturbances of the system and compensate them to the sliding mode controller to improve the robustness of the system. The stability of the system is proved by using Lyapunov principle. The validity of this method is verified by numerical simulation and physical simulation of inverted pendulum system.

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Observer-based adaptive fuzzy finite-time prescribed performance tracking control for strict-feedback systems with input dead-zone and saturation

Zhou

Gao

et al. 2021

Nonlinear Dyn

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Robust adaptive finite-time tracking control of uncertain mechanical systems with input saturation and deadzone

Cited by 11 publications

References 46 publications

Finite-time sliding mode control for a 3-DOF fully actuated autonomous surface vehicle

Finite-time sliding mode control for a 3-DOF fully actuated autonomous surface vehicle

Second-Order Hierarchical Fast Terminal Sliding Model Control for a Class of Underactuated Systems Using Disturbance Observer

Observer-based adaptive fuzzy finite-time prescribed performance tracking control for strict-feedback systems with input dead-zone and saturation

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