Robust output tracking of nonlinear systems with transient improvement via funnel-based sliding mode control

Abstract

This paper studies a new procedure for robust tracking of nonlinear systems. This procedure is based on the combination of the sliding mode control and the funnel control, which in addition to the robust performance of the closed-loop system in the face of model uncertainties and/or external disturbances also leads to improvement of the characteristics of the transient responses. Using funnel control and the appropriate choice of the funnel can affect the convergence rate and overshoot. In this regard, a theorem has been presented and the effective performances of the suggested controller have been guaranteed in various respects based on exact mathematical analysis. Simulations have also been carried out to illustrate the efficiency of the proposed approach and to verify the theoretical achievements of the paper despite model uncertainties and external disturbances.

Unknown System Dynamics Estimator-Based Anti-Disturbance Attitude Funnel Control for Quadrotors with Experimental Verifications

“…To demonstrate the practicability and effectiveness for the presented control schemes, MATLAB/SIMULINK-based numerical simulation consequences were accomplished and the sampling rate was selected as 1 kHz, including S-function based attitude Model (1) and (4), M-file based funnel control Schemes ( 17) and ( 18) and control Law (21) and (24). In addition, according to [2], the selections of related arguments are listed in Table 1, including the moment of inertia, inertia moment uncertainties, and environmental disturbances.…”

“…In Wang et al [20], by introducing a novel funnel variable to FC, a differentiator-based adaptive control rule was implemented for servosystems to realize an asymptotic convergence. In Zahedi et al [21], an FC-based sliding mode control policy was introduced for nonlinear system to govern the transient and steady-state convergence. To enable the tracking errors to converge to steadystate with the constraint conditions taken into consideration, an FC-based asymptotic tracking control method was proposed for a class of nonlinear systems in Verginis et al [22].…”

“…Evidently, by exploiting a monotonous funnel function-based funnel variable into the controller design process, the tracking profiles are governed to the predefined funnel region with a satisfied overshoot, convergence time and precision. However, the previous literature [17][18][19][20][21][22] is merely applied to enforce the anti-disturbance performance for a class of simple single input and single output systems, the existing results cannot be easily extended to the complex system model, such as quadrotor dynamics characterized by strong coupling and multiple inputs and multiple outputs. Furthermore, there is no relevant experimental verification for FC-based quadrotor attitude control.…”

Dynamic event-triggered tracking control for a class of p-normal switched stochastic nonlinear systems

“…It is widely known that nonlinearities exist in many practical engineering fields, such as agronomic systems, single-link robot systems, chemical reactor systems, tunnel diode circuit systems, and complex networked systems. Recently, the investigation for nonlinear systems has drawn considerable attention (Bibi et al, 2020; Chu et al, 2021; Li et al, 2021; Wu et al, 2020a; Zahedi and Binazadeh, 2020; Zhai, 2019). Many effective control algorithms have been put forward, such as adaptive control (Lin and Qian, 2002; Niu et al, 2020; Zhai and Karimi, 2019), finite-time control (Mei et al, 2020; Min et al, 2021), and output-feedback control (Yan et al, 2017).…”

A Novel Nonlinear Quadrotor Attitude Regulation with Disturbances and Preassigned Convergences

“…In [24], by incorporating dynamic surface control with NN, an adaptive tracking controller is developed for hydraulic manipulators to ensure that tracking error evolves within the new funnel function. Although the tracking performance can be guaranteed with the funnel boundary by the robust control in [23][24][25], the high estimation of disturbance may affect the tracking performance.…”