Uncertainty and disturbance estimator based sliding mode control of an autonomous underwater vehicle

Londhe, P. S.; Dhadekar, Dinesh D.; Patre, B. M.; Waghmare, L. M.

doi:10.1007/s40435-016-0260-z

Cited by 50 publications

(22 citation statements)

References 29 publications

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“…where Ũ d s , X s , D s and G f s denote the Laplace transform of ũ d t , x t , d t and g f t , respectively. Taking the Laplace transform of (18) and substituting (19) into it, there is…”

Section: With Disturbances/uncertaintiesmentioning

confidence: 99%

“…In [17, 18], a UDE‐based backstepping control method is proposed for non‐linear systems with mismatched uncertainties, which addresses the ‘complexity explosion’ problem in conventional backstepping approach. In [19], a novel SMC approach is proposed to achieve chattering reduction with the integration of UDE and conventional SMC. In [20], a UDE‐based adaptive SMC method is presented for non‐linear systems with parameter uncertainties, where a non‐linear observer and a UDE are applied to the estimation of the mismatched and matched uncertainties, respectively.…”

Section: Introductionmentioning

confidence: 99%

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Stabilisability analysis and design of UDE‐based robust control

Tian

Zhong

Ren

et al. 2019

IET Control Theory & Applications

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Section: With Disturbances/uncertaintiesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Stabilisability analysis and design of UDE‐based robust control

Tian

Zhong

Ren

et al. 2019

IET Control Theory & Applications

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“…The UDE technique estimates the lumped uncertainty using a low pass filter with proper bandwidth (Zhong and Ree, 2004). The UDE-based robust control has merits of excellent performance, simplicity and easy implementation (Kuperman and Zhong, 2011; Ren et al, 2015, 2017), and has been combined with sliding-mode control (SMC) to control uncertain systems without using discontinuous control, which attenuates the chattering phenomenon that is harmful to actual systems, and without requiring the upper bound of the uncertainty (Chandrasekhar and Dewan, 2007; Dhadekar and Patre, 2017; Londhe et al, 2016; Xu, 2017). Ren et al (2015) discussed UDE-based control of a class of unknown single-input-single-output non-affine nonlinear systems.…”

Section: Control Designmentioning

confidence: 99%

Modelling and robust position and orientation control of a non-affine nonlinear dielectrophoresis-based micromanipulation system

Luo

Melek

Yeow

2018

Transactions of the Institute of Measurement and Control

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Conventional dielectrophoresis and electrorotation have attracted widespread attention in the field of individual micro-object manipulation in recent years. The improvement of current dielectrophoresis-based micromanipulation systems’ flexibility, accuracy and level of automation are essential requirements of dielectrophoresis-based micromanipulation techniques. For the purpose of high-precision automatic positioning and orientation control of a micro-object, we have developed approximate analytical expressions to describe the conventional dielectrophoretic force and electrorotation torque generated by quadrupole polynomial electrodes on a spherical micro-particle. Numerical simulations based on the finite element method are used to demonstrate the effectiveness of the proposed modelling method. In addition, the non-affine nonlinear dynamic models of the dielectrophoresis-based micromanipulation subsystems are established. Furthermore, an uncertainty and disturbance estimator based dynamic sliding mode controller is proposed and applied to achieve a robust sequential position and orientation control system. The stability of the closed-loop system is established. The performance of the proposed control is demonstrated through simulation studies.

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“…Correct filter design allows accurate TUD estimation and subsequent cancellation, yielding outstanding disturbance rejection performance. Basic analysis and design of TUDE-based controllers were revealed in [8][9][10][11][12][13][14][15] and applied to various practical systems in [16][17][18][19][20][21][22][23][24][25][26][27][28][29][30][31][32][33][34]. TUDE-based control was recently applied to the field of power electronics and motor drives as well [35][36][37][38][39].…”

Section: Introductionmentioning

confidence: 99%