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

Abstract

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.

Integral Sliding-Mode Control-Based Direct Power Control for Three-Level NPC Converters

“…The zero equilibrium controller (21) can be obtained by solving (20). Then the controller u αβ of the power tracking loop can be designed as (22).…”

“…where µ(e p ) and µ(e q ) are the integral sliding-mode controllers to be designed. Substituting (22) into (18), the dynamics of power tracking errors can be derived aṡ…”

“…The traditional ways of reducing chattering are introduced in [21]. In [22], evolutionary algorithms are used to tune the constrained parameters of the controller, which reduces the convergence time of tracking error and the chattering. In this paper, a simple adaptive law is applied in the voltage tracking loop to reduce the chattering of reference active power which can reduce the current harmonic distortion.…”

WIP Vehicle Control Method Based on Improved Artificial Potential Field Subject to Multi-obstacle Environment

“…In the practical application process, such as home service, industrial production, transportation, space probe, etc., the WIP vehicle will inevitably encounter various obstacles, which seriously influence the implementation of related tasks [2,32,40]. Moreover, the WIP vehicle subjects to the nonholonomic constraint between the wheels and ground due to the pure rolling motion [6,11,21,34], and it is also a typical underactuated system that the number of control inputs is less than the degrees of freedom [8,14,29,37], both of which make the control of the vehicle more difficult. Therefore, developing a control method for the WIP vehicle in multi-obstacle environment not only has important theoretical meaning, but also has great practical significance.…”

“…To realize the better control performance of the WIP vehicle, plenty of valuable results have been carried out by many researchers. For example, dynamic surface control [13] and nonlinear optimal control [17] are proposed to balance the vehicle body; terminal sliding mode control [11] and energy shaping [35] are developed to realize the forward motion control of the WIP vehicle; neural-adaptive output control [20] and robust model predictive control [36] are presented to achieve the trajectory tracking. Specifically, a suitable coordinates transformation is introduced in [5] to formulate the WIP model into a parametric strict feedback form based on the nonlinear model, and then an adaptive backstepping control method is applied to achieve output tracking of the WIP vehicle.…”