Adaptive backstepping nonsingular fast terminal sliding mode. The systems disturbances and states can be estimated by introducing the eso, then the disturbances are compensated effectively, and the ideal transient process of the system can. Nonsingular fast terminal sliding mode control of highspeed. In this paper, robust and adaptive nonsingular fast terminal slidingmode nftsm control schemes for the trajectory tracking problem are proposed with known or unknown upper bound of the system uncertainty and external.
In this approach, a novel backstepping nonsingular fast terminal sliding mode controller bnftsmc is developed based on an integration of integral nonsingular fast terminal sliding mode surface and a. A fast nonsingular terminal sliding mode control law is then proposed, based on which an adaptive controller is designed for lorentzaugmented spacecraft relative motion to deal with the uncertain parameters and perturbations. At first, the fractionalorder fo with nonsingular fast terminal sliding mode control nftsm is adopted to provide a precise trajectory tracking performance, fast finitetime speed of convergence, singularityfree and chatterfree control inputs. Nonsingular fast terminal sliding mode control with extended. An approximate fast terminal sliding mode control is proposed by integrating a nonsingular fast terminal. Decentralized adaptive attitude synchronization control. Besides, extended state observer eso of the active disturbance rejection control adrc is used to estimate the system lumped perturbation and compensated it in the controller based on the. Adaptive secondorder fast nonsingular terminal sliding. Tsm is robust nonlinear control approach the main idea of terminal sliding mode control evolved out of seminal work on terminal attractors done by zak in the jpl, and is evoked by the concept of terminal attractors which. In this paper, a novel concept of robust nonsingular fast terminal sliding mode controller nftsmc is adopted for the trajectory tracking problem of a nonlinear system. Practical nonsingular terminal slidingmode control of. Finally, simulation results are presented to illustrate the e. Compared to other sliding mode manifolds, the nftsm control has finitetime convergence, fast speed when the states are far from.
The use of the nftsm controller offers a fast convergence rate, avoids singularities, but still suffers from chattering. Strictly convergent nonsingular terminal sliding mode guidance law with impact angle constraints optik, vol. Pdf a nonsingular fast terminal sliding mode control. A multispacecraft nftsm is firstly designed, which contains the advantages of the nonsingular terminal. The benefits of this approach are that the proposed controller can preserve the merits of the integral nonsingular fast terminal sliding mode control in terms of high. Nonsingular terminal sliding mode guidance with impact. Decentralized adaptive attitude synchronization control for. Nonsingular fast terminal sliding mode control for. Aiming at the tracking control problem of a class of uncertain nonlinear systems, a nonsingular fast terminal sliding mode control scheme combining rbf network and disturbance observer is proposed. Nonsingular fast terminal sliding mode control with extended state observer and disturbance compensation for position tracking of electric cylinder duoyangli 1,2 andjunzhengwang1,2. The sliding mode controller is designed by using nonsingular fast terminal sliding mode and second power reaching law to solve the problem of singularity and slow convergence in traditional terminal. This paper studies the attitude synchronization control problem for a group of spacecraft.
Some new norms of fast tsm strategies are proposed, and a faster convergence rate is established in comparison with the conventional fast tsm. This paper investigates a novel nonsingular fast terminal slidingmode control method for the stabilization of the uncertain timevarying and nonlinear thirdorder. First, a dynamic eightorder hydropower plant model. Then, a new form of robust ntsm controller was designed to handle a wider class of secondorder uncertain systems. Pdf this paper considers the robust and adaptive nonsingular terminal sliding mode ntsm control for a class of secondorder uncertain systems find. Fast nonsingular terminal decoupled slidingmode control. Jun 15, 2018 the attitude control problem is addressed for a quadrotor system subject to the modeling uncertainties and unknown disturbances. In this approach, a novel backstepping nonsingular fast terminal sliding mode controller bnftsmc is developed based on an integration of integral nonsingular fast terminal sliding mode surface and a backstepping control strategy. Pdf this paper presents a fast nonsingular integral terminal sliding mode control fnitsmc for a class of nonlinear systems. Fast nonsingular integral terminal sliding mode control for nonlinear. Finally, simulation results show a satisfactory performance for the attitude tracking of the reusable launch vehicle with atmospheric disturbances. A continuous nonsingular fast terminal sliding mode nftsm control scheme with the extended state observer eso and the tracking di erentiator td is proposed for secondorder uncertain siso nonlinear systems.
A novel nonsingular fast terminal sliding mode nnftsm control strategy based on the extended state observer eso and the tracking differentiator td is developed for the stabilization and tracking of the uncertain perturbed permanent magnet synchronous motor pmsm chaotic system. Fast nonsingular terminal sliding mode control although faster convergence is achieved when the system state is near equilibrium, tsmc may exhibit much slower convergence for the case where the state trajectory is far from equilibrium 19. Study of nonsingular fast terminal slidingmode fault. Research article a new fast nonsingular terminal sliding. Combining the advantages of the two control methods, the concept of the nonsingular fast terminal sliding mode nftsm control is proposed 19. Aiming at the tracking control problem of a class of uncertain nonlinear systems, a nonsingular fast terminal sliding mode control scheme. In this paper, a novel finitetime robust adaptive nonsingular fast terminal sliding mode control strategy is designed to achieve high performance control for an electrooptical targeting system. Nonsingular terminal sliding mode control for reusable.
In this paper, robust and adaptive nonsingular fast terminal slidingmode nftsm control schemes for the trajectory tracking problem are proposed with known or unknown upper bound of the system. To overcome this problem, a new type of sliding mode control techniques called nonsingular terminal sliding mode ntsm and nonsingular fast terminal sliding mode nftsm are recently developed. Pdf fast nonsingular integral terminal sliding mode. To investigate a typical largescale nonlinear hydropower system hs with a stochastic water flow, a novel nonlinear adaptive control scheme, which is created by the combination of a backstepping strategy, nonsingular fast terminal sliding mode surface and command filter, is proposed for the hydroturbine governor design of a hs to not only improve the transient stability of the hs but also. Modelfree based adaptive nonsingular fast terminal sliding. Nonsingular fast terminal sliding mode nftsm control is investigated to ensure that the.
A new fast nonsingular terminal sliding mode control for a. To overcome this problem, a new type of slidingmode control techniques called nonsingular terminal slidingmode ntsm and nonsingular fast terminal slidingmode nftsm are recently developed. Adaptive control, model predictivecontrol,fractionalordercontrol, and sliding mode control are used to solve model uncertainties. Nonsingular fast terminal sliding mode nftsm control is investigated to ensure that the system output can track the reference input in finite time. First, the tracking differentiator td is designed to obtain the smooth tracking signal and its derivative. Nonsingular fast terminal slidingmode stabilizer for a class of uncertain nonlinear systems based on disturbance observer. A novel attitude control scheme is proposed based on nonsingular fast terminal sliding mode nftsm technique. The adaptive control term with an improved composite adaptive law can estimate the uncertain parameters and compensate for the modelled dynamical. Considering inertia uncertainties and external disturbances with unknown bounds, a decentralized adaptive control scheme is developed using nonsingular fast terminal sliding mode nftsm. The singularity problem of ftsmc method is solved by the designed nftsmc and the disturbance observer is developed to quickly force the.
Terminalslidingmode tsm is a new slidingmode control method that can design a nonlinear sliding manifold to converge in finite time, but it has singularity problems. In this approach, a novel backstepping nonsingular fast terminal sliding mode controller bnftsmc is developed based on an integration of integral nonsingular fast terminal sliding mode surface. In this paper, robust and adaptive nonsingular fast terminal sliding mode nftsm control schemes for the trajectory tracking problem are proposed with known or unknown upper bound of the system uncertainty and external disturbances. Aug 10, 2014 this paper studies the attitude synchronization control problem for a group of spacecraft. This paper develops a novel control methodology for tracking control of robot manipulators based on a novel adaptive backstepping nonsingular fast terminal sliding mode control abnftsmc. To ensure satisfactory control performance for the underwater vehiclemanipulator systems, a novel continuous nonsingular fast terminal sliding mode controller is proposed and investigated using. In the early 1990s, a new type of sliding mode control, named terminal sliding modes tsm was invented at the jet propulsion laboratory jpl by venkataraman and gulati. Pdf a nonsingular fast terminal sliding mode control with. For attitude control of the reusable launch vehicle, a nonsingular terminal sliding mode controller is designed with stability guaranteed.
Jan 23, 2020 in this paper, an adaptive nonsingular fast terminal sliding mode control anftsmc is proposed for underwater manipulator robotics with asymmetric actuator saturations and unknown timevarying tv external disturbances. Robust nonsingular fast terminal sliding mode control in. Nonsingular fast terminal sliding mode tracking control for a. Rbfnnbased nonsingular fast terminal sliding mode control. His research interests include sliding mode control and nonlinear system control. Nonsingular fast terminal sliding mode control with. Adaptive secondorder fast nonsingular terminal sliding mode control for robotic manipulators shanchao yi and junyong zhai key laboratory of measurement and control of cse, ministry of education school of automation, southeast university, nanjing, jiangsu 210096, china. This paper presents an improved robust tracking control for uncertain robot manipulators. Adaptive nonsingular fast terminal slidingmode control for the tracking problem of uncertain dynamical systems. Modelfree based adaptive nonsingular fast terminal. A nonsingular fast terminal sliding mode control with an. Compared with many existing works on terminal sliding mode control tsmc.
Pdf nonsingular fast terminal sliding mode tracking. To achieve robust finitetime trajectory tracking control, this paper proposes a novel neuralnetworkbased nonsingular fast terminal sliding mode nftsm control strategy for nlink robotic manipulators including actuator dynamics, subject to the model uncertainty and external disturbances. Furthermore, a finite time fast terminal sliding mode nftsm control is proposed, with constant frequency for the voltagefundamental building b2. An approximate fast terminal sliding mode control is proposed by integrating a nonsingular fast terminal sliding surface with an exponential reaching law. An adaptive backstepping nonsingular fast terminal sliding mode. An adaptive nonsingular fast terminal sliding mode control scheme consisting of an adaptive control term and a robust control term for electromechanical actuator is proposed in this article. The position tracking problem of the electric cylinder, which has internal perturbation, external disturbance, and measurement noise of the output, is studied in this paper. Research article nonsingular fast terminal sliding mode. In this paper, an adaptive nonsingular fast terminal sliding mode control anftsmc is proposed for underwater manipulator robotics with asymmetric actuator saturations and unknown timevarying tv external disturbances. Nonsingular terminal sliding mode control of uncertain. A novel concept of nonsingular fast tsm, which is able to avoid the possible. Nonsingular terminal sliding mode control of uncertain second. Modelfree continuous nonsingular fast terminal sliding mode.
Adaptive nonsingular fast terminal slidingmode control. First, a nonsingular terminal sliding mode surface is introduced to eliminate the singularity problem that exists in conventional terminal sliding mode control. The attitude control problem is addressed for a quadrotor system subject to the modeling uncertainties and unknown disturbances. To overcome this problem, a new type of sliding mode control techniques called nonsingular terminal sliding mode ntsm and nonsingular fast terminal slidingmode nftsm are recently developed. Firstly, the nonsingular fast terminal sliding mode nftsm control scheme is conducted for the underwater manipulator robotics, which guarantees the boundedness of. Modelfree continuous nonsingular fast terminal sliding mode control for cabledriven manipulators author links open overlay panel yaoyao wang a kangwu zhu b bai chen a maolin jin c show more. Modelfree continuous nonsingular fast terminal sliding. Nonsingular fast terminal sliding mode control of high. Novel nonsingular fast terminal sliding mode control for a. Nonsingular fast terminal slidingmode stabilizer for a class of. Adaptive nonsingular fast terminal sliding mode control for. Research article a new fast nonsingular terminal sliding mode. Nonsingular fast terminal sliding mode tracking control.
Pdf fast nonsingular integral terminal sliding mode control. Pdf nonsingular fast terminal sliding mode tracking control. Pdf fast nonsingular integral terminal sliding mode control for. A continuous nonsingular fast terminal sliding mode nftsm control scheme with the extended state observer eso and the tracking differentiator td is proposed for secondorder uncertain siso nonlinear systems.
Firstly, the nonsingular fast terminal sliding mode nftsm control scheme is conducted for the underwater manipulator robotics, which guarantees the boundedness of all the. A multispacecraft nftsm is firstly designed, which contains the advantages of the nonsingular terminal sliding mode. The adaptive control term with an improved composite adaptive law can estimate the uncertain parameters and compensate for the modelled dynamical uncertainties. This paper considers the robust and adaptive nonsingular terminal sliding mode ntsm control for a class of secondorder uncertain systems. Nonsingular and fast terminal sliding mode control method. Nonsingular fast terminal slidingmode stabilizer for a class. Nonsingular terminal sliding mode control for reusable launch. Tracking differentiator and extended state observerbased. Compared to other slidingmode manifolds, the nftsm control has finitetime convergence, fast speed when the states are far from. State key laboratory of automotive safety and energy, tsinghua university, beijing 84, china. Adaptive backstepping nonsingular fast terminal sliding. Online fault detection of permanent magnet demagnetization. Fast nonsingular integral terminal sliding mode control for nonlinear dynamical systems. Fast nonsingular terminal slidingmode control although faster convergence is achieved when the system state is near equilibrium, tsmc may exhibit much slower convergence for the case where the state trajectory is far from equilibrium 19.
Modelfree continuous nonsingular fast terminal sliding mode control for cabledriven manipulators. Adaptive nonsingular fast terminal slidingmode control for. The new nftsm is obtained by introducing an adjustable nonlinear term into fast terminal sliding mode ftsm control, and a singularity problem is avoided. Fast nonsingular integral terminal sliding mode control for nonlinear dynamical systems conference paper pdf available in proceedings of the ieee conference on decision and control 2015.
Jan, 2020 in this paper, a novel concept of robust nonsingular fast terminal sliding mode controller nftsmc is adopted for the trajectory tracking problem of a nonlinear system. A variety of methods were adopted by many scholars to control the pmsm. Researcharticle nonsingular fast terminal sliding mode tracking control for a class of uncertain nonlinear systems siyichen,weiliu,andhuixianhuang. First, a new fast ntsm was proposed which had global fast convergence rate in the sliding phase. Lyapunov stability theory is employed to prove the global approximate finitetime stability ensuring that the tracking errors converge to an arbitrary small ball centered at zero within a. Pdf adaptive nonsingular fast terminal slidingmode. Research article nonsingular terminal sliding mode control of. In this paper an adaptive nonsingular fast terminal sliding mode nftsm control scheme is proposed to control the. A control method is proposed for achieving high tracking accuracy and tracking velocity for the wheellegged robot application. A nonsingular and fast terminal sliding mode nftsm control method is then employed to track the desired slipratio, as longitudinal slip ratio control lsc. An adaptive backstepping nonsingular fast terminal sliding.
Pdf a new fast nonsingular terminal sliding mode control for a. Adaptive fast nonsingular terminal sliding mode control of. Nonsingular fast terminal sliding mode control for underwater. Adaptive nonsingular fast terminal sliding mode control. Design and implementation of finite time nonsingular fast.
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