It is observed that the chosen value of terminal power aims to make a compromise between the startup and the moment when load changes. Nonsingular terminal sliding mode control of nonlinear. Conventional sliding mode control with linear sliding mode surfaces can guarantee that the system state reaches the equilibrium asymptotically 4. Pdf in this article, a fast terminal sliding mode control technique is used for robust tracking control of a nonlinear uncertain massspring. These finite time convergent guidance laws suffer from singularity leading to control saturation. In this paper, we present a new discretetime fast terminal sliding mode ftsm controller for mirrorbased pointing systems. The hierarchical terminal slidingmode structure is used to enable finite time reachability of the system equilibrium. Adaptive neural network terminal sliding mode control for. Under the proposed controllers, the states of the inputoutput subsystem can be. Two adaptive integral terminal sliding mode control schemes, namely, adaptive integral terminal sliding mode control aitsmc scheme and adaptive fast integral terminal sliding mode control afitsmc scheme are. The design of variable structure control with terminal sliding modes for multiinput uncertain linear systems is discussed. Terminal sliding mode control for nonlinear systems with. One in the input channel is generated by an exogenous system with uncertainty. Integral terminal sliding mode formation control of nonholonomic robots using leader follower approach volume 35 issue 7 muhammad asif, muhammad junaid khan, attaullah y.
The disturbances are supposed to include two parts. Request pdf a new approach to terminal sliding mode control design in this paper, terminal sliding mode control design is considered. Then terminal sliding mode control laws are con structed for some classes of nonlinear systems. A new terminal sliding mode manifold is first proposed for the secondorder system to enable the elimination of the singularity problem associated with. Research article fractionalorder terminal slidingmode. References 1 zhuang ky, zhang kq, su hy, and chu j. While, in normal sliding mode, asymptotic stability is promised which leads to the convergence of the states to the. Fast convergence rate of the system states can be retained when the. Nonsingular terminal sliding mode control of underwater. A global nonsingular terminal slidingmode control strategy for nonlinear systems is developed and it is shown that the proposed control strategy can eliminate the singularity, while guaranteeing.
A new approach to terminal sliding mode control design yiguang hong, guowu yang, daizhan cheng, and sarah spurgeon abstract in this paper, terminal sliding mode control design is considered. To reach the equilibrium within finite time, terminal sliding mode tsm control method was proposed in 7. The key idea is to apply strong control action when the system deviates from the desired behavior. Adaptive backstepping terminal sliding mode control method. Terminal sliding mode control of airship pitch channel. The motivation of this controller is to introduce the lyapunov function vx. The main characteristic of variable structure control with terminal sliding mode is the commutation during synthesis on a surface chosen a priori, called sliding surface. A new approach to terminal sliding mode control design request. Optimal terminal slidingmode control for secondorder.
Practical tracking control of linear motor with adaptive. Terminal sliding mode control for the trajectory tracking. Optimal terminal slidingmode control for secondorder motion systems michael ruderman abstractterminal sliding mode tsm control algorithm, and its nonsingular re. The controlled system is then said sliding mode and its dynamics becomes. First, a new nonsingular terminal sliding mode ntsm surface is proposed for singularity elimination. Pdf 955 k nonsingular terminal sliding mode control of underwater remotely operated vehicles. Also a lyapunov function was given to prove the sliding mode method is right and reasonable.
This paper presents a new design of terminal sliding mode control for nlink rigid robot manipulators. Terminal sliding mode control for nonlinear systems with both. The slidingmode control is an effective robust control strategy with the feature of switching the control law to force the state trajectories of the system from the initial states onto some predefined sliding surface which exhibit desired dynamics. A control method, different from many existing terminal sliding model control design methods, is proposed based on a new switching law and continuous.
This work introduces a maximum power point tracking method based on fast terminal sliding mode control ftsmc for photovoltaic systems. In this paper, the issue of full control both position and orientation controls of an overactuated unmanned flying robot is addressed using an adaptive fuzzy global fast terminal sliding mode control afgftsmc scheme in the presence of external disturbances and parametric uncertainties. Nonsingular terminal sliding mode control of rigid manipulators. Composite disturbanceobserverbased control and terminal. Modelling and fast terminal sliding mode control for mirrorbased. Consequently, compared with linear hyperplanebased sliding mode control, nftsm offers superior properties, such as fast response andconvergence in finite time. Multiinput uncertain linear systems with terminal sliding. This paper proposes a practical adaptive fractional order fo terminal sliding mode control smc strategy for tracking control of the linear motor. 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 guarantee finite time convergence of the states. In, the concept of terminal attractor is first proposed, and terminal sliding mode control tsmc is proposed as a result. A new terminal sliding mode manifold is first proposed for the secondorder system to enable the elimination of the singularity problem associated with conventional terminal sliding mode control. To make the response of airship system to be quicker, a kind of terminal sliding mode surface was constructed which can make the pitch angle trace the desired value in a finite time.
Adaptive nonsingular fast terminal sliding mode control for. Nonsingular fast terminal sliding mode tracking control. Integral terminal sliding mode formation control of non. A super twisting fractional order terminal sliding mode. Furthermore, the terminal sliding mode control tsmc is used for the design to provide robustness against unmodeled dynamics, model uncertainties and external disturbances due to ocean currents and waves. Compared with conventional fast nonsingular smc, the proposed approach, with a fo integral sliding surface and the adaptive switching input, can obtain higher convergence precision, even though the motion control system suffers from. Classical rst order sliding mode higher order sliding mode from 1rst order to higher order sliding modes w. Nonsingular terminal sliding mode control for a quadrotor. View enhanced pdf access article on wiley online library html view download pdf for offline viewing. This paper addresses the finite time attitude tracking for rigid spacecraft with inertia uncertainties and external disturbances.
Highperformance fractional order terminal sliding mode. Highaccuracy tracking control of robot manipulators using. Sliding mode controller design sliding mode control is a special version of an ono control. The fractional order terminal sliding mode control ftsmc based on a double closedloop structure of voltage and current has been proposed. Some new norms of fast tsm strategies are proposed, and a faster convergence rate is established in comparison with the conventional fast tsm. However, lsmc is a asymptotically stable method, which means the states of the control system cant converge to the equilibrium point within a finite time after the sliding mode surface is reached. But detailed simulation result shows that the response is very quick but it. On the other hand, to solve the problem of convergence rate, yu et al. Then terminal sliding mode control laws are constructed for some classes of nonlinear systems.
Adaptive backstepping nonsingular fast terminal sliding. The tracking control problem for uncertain spatial robot is investigated by means of adaptive terminal sliding mode control in this article. Nonsingular terminal sliding mode guidance with impact. Adaptive fuzzy global fast terminal sliding mode control. Guidance laws based on a conventional sliding mode ensures only asymptotic convergence. Terminal sliding mode control, finitetime convergence, non. The presented video is giving matlab programing for terminal sliding mode control with singularity. This lecture is about normal and nonsingular terminal sliding mode control. Terminal sliding mode control design for uncertain dynamic systems. This cited by count includes citations to the following articles in scholar.
Pdf nonsingular terminal sliding mode control of rigid. Pdf advanced sliding mode control for mechanical systems pp 7162 cite as. 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. Nonsingular terminal sliding mode control of uncertain. This chapter introduces three kinds of terminal sliding mode controllers. Nonlinear systems, robust control, terminal sliding mode control. Adaptive nonsingular fast terminal sliding mode control. By introducing a non singular terminal sliding mode manifold, a novel terminal sliding mode controller is designed for the speed loop. A novel type of control scheme combining the disturbanceobserverbased control dobc with terminal sliding mode tsm control is proposed for a class of multipleinputmultipleoutput mimo continuous nonlinear systems subject to disturbances. This paper presents a global nonsingular terminal sliding mode controller for rigid manipulators. The adaptive control term with an improved composite adaptive law can estimate the uncertain parameters and compensate for the modelled dynamical. In this paper, we extend the sliding mode idea to a class of unmatched uncertain variable structure systems.
This method is achieved with introducing a new terminal sliding. This article addresses the projective lag synchronization for a class of secondorder chaotic systems via a modified terminal sliding mode control tsmc. Pdf nonsingular terminal sliding mode control of a. Pdf on nonsingular terminal slidingmode control of. However, convergence to the desired impact angle within a finite time is important in most practical guidance applications. School of electrical and information engineering, jiangsu university, zhenjiang, jiangsu 2120, china. A new nonsingular terminal sliding mode control for rigid. The ones marked may be different from the article in the profile. Projective lag synchronization of secondorder chaotic. Fractionalorder terminal slidingmode control for buck dc. Pdf fast terminal sliding mode tracking control of nonlinear. Doubleloop integral terminal sliding mode tracking. Fast terminal slidingmode control design for nonlinear dynamical systems.
A global nonsingular terminal slidingmode control strategy for nonlinear systems is developed and it is shown that the proposed control strategy can eliminate the singularity, while guaranteeing the finitetime reachability of the systems to the terminal sliding mode surface and the finitetime convergence of the systems towards the origin. Research article nonsingular terminal sliding mode control. L2 terminal 2smc terminal 2ndorder sliding mode control is based on the properties of finite time control by means of the definition of an augmented nonlinear output variable m sx. The terminal sliding surface is constructed with a differential odd function, which is a superset of. Tsmc is known to be superior over the conventional sliding mode control technique in terms of the. Terminal sliding mode control for highorder nonlinear dynamic systems. Design and implementation of terminal sliding mode control. To approximate unknown nonlinear functions of these systems, a neural network model is. Rnn and other control parameters are adjusted online based on the backstepping terminal sliding mode controller. 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 influence of the controller parameters was investigated. Finally, simulation results are presented to illustrate the e.
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. Research article fractionalorder terminal slidingmode control for buck dcdc converter ningningyang, 1,2 chaojunwu, 3 rongjia, 1,2 andchongxinliu 4 state key laboratory base of ecohydraulic engineering in arid area, xi an university of technology, xi an, china. On nonsingular terminal slidingmode control of nonlinear. Nonsingular fast terminal sliding mode control of high. The potential linear structure of the chained form system together with the finite time convergence property of the terminal sliding mode control method has been adopted for a tractortrailer. To eliminate the chattering phenomenon, a continuous nonsingular terminal sliding mode control law is designed using the secondorder sliding mode approach. Sliding mode control lecture 12 normal and nonsingular. Pdf maximum power point tracking of photovoltaic systems.
Nonsingular terminal sliding mode control of nonlinear second. Terminal sliding mode control for nonlinear systems with both matched and unmatched uncertainties v. In this paper, guidance laws to intercept targets at a desired impact angle, from any. This paper focuses on the trajectory tracking control of unmanned underwater vehicles uuvs in the presence of dynamic uncertainties and timevarying external disturbances.
Modelling and fast terminal sliding mode control for. The desired impact angle, which is defined in terms of a desired lineofsight angle, is achieved in finite time by selecting the interceptors lateral acceleration to enforce nonsingular terminal sliding mode on a switching surface designed using nonlinear engagement dynamics. The fast terminal sliding mode control ftsmc has been introduced in references 11,12. Then, sliding surfaces based on ftsm manifold are designed. Terminal sliding mode control for rigid robots sciencedirect.
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