Robust adaptive fractional-order nonsingular terminal sliding mode stabilization of three-axis gimbal platforms

Mousavi, Yashar; Zarei, Amin; Jahromi, Zeinabosadat Sane

doi:10.1016/j.isatra.2021.05.027

Cited by 16 publications

(8 citation statements)

References 40 publications

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“…In the actual operation, robot manipulators are affected by the uncertainties of the internal dynamic modeling parameters and external disturbances, which decrease the control performance and are not conducive to the accurate and efficient tracking of the desired trajectory. With the development of research, various advanced control strategies such as feedback linearization control [5], PID control [6], model predictive control [7], fuzzy control [8], robust control [9,10], neural network control [11][12][13], active disturbance rejection control [14,15], and sliding mode controller (SMC) [16][17][18] have been widely used in the tracking tasks of robot manipulators.…”

Section: Introductionmentioning

confidence: 99%

Adaptive non‐singular fast terminal sliding mode based on prescribed performance for robot manipulators

Zhang

Fang

Song

et al. 2023

Asian Journal of Control

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A fast convergent non-singular terminal sliding mode adaptive control law based on prescribed performance is formulated to solve the uncertainties and external disturbances of robot manipulators. First, the tracking error of robot manipulators is transformed by using the prescribed performance function, which improves the transient behaviors and steady-state accuracy of robot manipulators. Then, a novel fast convergent non-singular terminal sliding mode surface is brought up according to the transformed error, and the control law is derived to meet the stability requirements of robot manipulators. In practice, the upper boundary of the lumped disturbances cannot be accurately obtained. Therefore, an adaptive prescribed performance control (PPC) controller to lumped disturbances is brought up to ensure the stability and finite-time convergence of robot manipulators. Finally, the system stability of robot manipulators is proved by the Lyapunov theorem. Simulation results and comparative analysis demonstrate the superiority and robustness of the raised strategy.

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Section: Introductionmentioning

confidence: 99%

Adaptive non‐singular fast terminal sliding mode based on prescribed performance for robot manipulators

Zhang

Fang

Song

et al. 2023

Asian Journal of Control

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“…Although the aforementioned approaches have demonstrated desirable control performances, sliding mode control (SMC) -based techniques have been found more attractive and suitable due to fast response, insensitiveness to parametric uncertainties, and implementation ease [2]. Particularly, SMC-based methods can theoretically determine the final tracking precision according to the developed sliding surface and the reaching law, even if the controlled system suffers from uncertainties and disturbances [14,15]. Aiming at power point tracking, authors in [8] proposed an SMC control scheme for power converters' control of a DFIG-based WECS subjected to parametric uncertainties.…”

Section: Introductionmentioning

confidence: 99%

Active Fault-tolerant Fractional-order Terminal Sliding Mode Control for DFIG-based Wind Turbines Subjected to Sensor Faults

Mousavi

Bevan

Küçükdemiral

et al. 2022

2022 IEEE IAS Global Conference on Emerging Technologies (GlobConET)

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The recent high penetration of wind energy conversion system (WECS) -based power generators being integrated into power grids demands advanced control techniques to ensure an efficient power production performance. This paper presents an active fault-tolerant nonlinear control strategy for the rotor side converter (RSC) control of doubly fed induction generator (DFIG) driven WECS subjected to model uncertainties and rotor current sensor faults. Two fractional-order nonsingular terminal sliding mode controllers are proposed for rotor current regulation and speed trajectory tracking. Furthermore, the control scheme is incorporated with a state observer to estimate the rotor current dynamics during sensors' faults. Benefitting from the proposed sliding surfaces, fast finite-time convergence of system states is guaranteed, and the chattering is effectively suppressed. Closed-loop stability analysis is investigated in the sense of the Lyapunov stability criterion. Comparative performance assessments under faulty situations are conducted, and the proposed fault-tolerant control scheme's promising speed and power tracking performance over fractional-order sliding mode control technique is revealed.

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“…During the past decade, the concept and applications of fractional calculus have attracted growing interests of scholars in various engineering fields [42,9,40]. Fractional order (FO) derivatives induce an infinite series, presenting a long memory of the past [39], whereas integer-order derivatives are local operators that imply a finite number of terms.…”

Section: Introductionmentioning

confidence: 99%

Fault-tolerant optimal pitch control of wind turbines using dynamic weighted parallel firefly algorithm

2022

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Robust adaptive fractional-order nonsingular terminal sliding mode stabilization of three-axis gimbal platforms

Cited by 16 publications

References 40 publications

Adaptive non‐singular fast terminal sliding mode based on prescribed performance for robot manipulators

Adaptive non‐singular fast terminal sliding mode based on prescribed performance for robot manipulators

Active Fault-tolerant Fractional-order Terminal Sliding Mode Control for DFIG-based Wind Turbines Subjected to Sensor Faults

Fault-tolerant optimal pitch control of wind turbines using dynamic weighted parallel firefly algorithm

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