The states of system can converge to the equilibrium point from any initial position. To reach the equilibrium within finite time, terminal sliding mode tsm control method was proposed in 7. Modelling and fast terminal sliding mode control for. To achieve full tracking and stabilizing the lateral position of the vehicle, a new approach based on the fast terminal sliding mode control ftsmc is utilized which is responsible for reducing the rate of convergence and getting. Terminal sliding mode control for nonlinear systems with both. Terminal sliding mode control for nonlinear systems with both matched and unmatched uncertainties v. Pdf design and implementation of fast terminal sliding mode. Rbfnnbased nonsingular fast terminal sliding mode control. The sliding mode control is widely used because of its simple structure, fast response, strong robustness to the variation of system parameters and external disturbances. Also, fractionalorder controller is used to improve tracking performance of controller. Zhihong, fast terminal slidingmode control design for nonlinear dynamical systems, ieee t ransactions on circuits and systems i. The effectiveness of the proposed approach is verified via simulations, and the results exhibit high. The performance of the fast terminal sliding mode ftsm controller has been investigated in various systems, which ensures that the state of the system is rapidly converged to the equilibrium point at.
This chapter introduces three kinds of terminal sliding mode controllers, including a. Based on the derived model, we design a ftsm sliding manifold in the continuous domain. By designing an fo proportionalintegral controller for current loops, an fo model between reference qaxis current and speed output is proposed. The nonlinear term is introduced into the design of the sliding mode based on the idea of terminal sliding mode control. But there is an inherent chattering problem,sliding mode control based on the reaching. In this paper, we extend the sliding mode idea to a class of unmatched uncertain variable structure systems. The proposed robust tracking controller is formulated based on the lyapunov stability theory and guarantees the existence of the sliding mode around the sliding surface in a finite time. Adaptive nonsingular fast terminal sliding mode guidance law with impact angle constraints 11 february 2016 international journal of control, automation and systems, vol.
Nonsingular fast terminal sliding mode tracking control for a. This controller was implemented on adams model by cosimulation of matlab simulink and adams car software. Compared with the above control approaches, xedtime. This method combines the advantages of the tsm control and the smc so that fast transient convergence both at a distance from and at a close range of the origin can be obtained. Practical tracking control of linear motor with adaptive. This paper focuses on the trajectory tracking control of unmanned underwater vehicles uuvs in the presence of dynamic uncertainties and timevarying external disturbances. The performance of the fast terminal sliding mode ftsm controller has been investigated in various systems, which ensures that the state of the system is rapidly converged to the equilibrium point at a. Pdf in this article, a fast terminal sliding mode control technique is used for robust tracking control of a nonlinear uncertain massspring. Fo improved fast terminal sliding mode control method for. Adaptive backstepping nonsingular fast terminal sliding. Adaptive fixedtime fast terminal sliding mode control for chaotic oscillation in power system.
Tsmc is known to be superior over the conventional sliding mode control technique in terms of the. Modelling and fast terminal sliding mode control for mirrorbased. After proposing a new stable fractionalorder nonsingular and nonlinear switching manifold, a sliding mode control law is designed. Fast convergence rate of the system states can be retained when the. Mar 12, 2020 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. Global fast dynamic terminal sliding mode control for a. Fast convergence is achieved using nonsingular fast terminal sliding mode control. 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. Adaptive backstepping nonsingular fast terminal sliding mode.
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. This method combines the advantages of the tsm control and the smc so that fast transient convergence both at a distance from and at a close range of the origin. Fast terminal sliding mode control for the ship steering. Doubleloop integral terminal sliding mode tracking control for uuvs with adaptive dynamic compensation of uncertainties and disturbances abstract. By introducing terminal attractors of neural networks, a nonlinear terminal sliding mode tsm surface has been designed in reference 10. This study proposes a fractionalorder fo improved fast terminal sliding mode controller for permanentmagnet synchronous motor speed regulation system. The inherent dynamic properties of the fast terminal sliding modes are explored and conditions to ensure its applicability for control designs are obtained. After the sliding surface is intercepted, the trajectory is attracted within the manifold and converges to the origin following a power rule.
Global fast terminal sliding mode control for robotic. 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. Position tracking control for permanent magnet linear motor. In this work, a global fast dynamic terminal sliding mode control method is proposed for performing the finitetime position and attitude tracking control of a small quadrotor uav. This work introduces a maximum power point tracking method based on fast terminal sliding mode control ftsmc for photovoltaic systems. Fast nonsingular terminal decoupled slidingmode control.
Nonsingular fast terminal sliding mode control of high. The theory of this controller is to introduce the limited time mechanicsterminal mode to the slidingmode control and introduce the integral operator to the slidingmode plane, which can realize the convergence of spacecraft attitude in limited time in the condition of serious disturbance, in order to enhance the performance of fast. For the position tracking control problem of permanent magnet linear motor, an improved fast continuoustime nonsingular terminal sliding mode control algorithm based on terminal sliding mode control method is proposed. In this paper, an adaptive fast terminal sliding mode control technique combined with a global sliding mode control scheme is investigated for the tracking problem of uncertain nonlinear thirdorder systems. Nonsingular terminal sliding mode guidance with impact angle. Pdf maximum power point tracking of photovoltaic systems. Nonsingular fast terminal sliding mode control of highspeed.
Strictly convergent nonsingular terminal sliding mode guidance law with impact angle constraints optik, vol. Fast terminal slidingmode control design for nonlinear dynamical systems x yu, m zhihong circuits and systems i. The second loop achieves regulation of the operating point to the reference mpv issued from the first. This control method is developed using a function augmented sliding hyperplane to guarantee that the tracking errors converge to zero in finitetime. A backstepping nonsingular fast terminal sliding mode control with the extended state observer eso is proposed for the uncertain factors of nonlinear spinning missile. The fast terminal sliding mode control ftsmc has been introduced in.
Adaptive fast terminal sliding mode control of a suspended. We first derive the decoupled model of those systems and then estimate the parameters using a nonlinear leastsquare identification method. Pdf this paper considers the robust and adaptive nonsingular terminal sliding mode ntsm control for a class of secondorder uncertain systems find. First, a dynamic eightorder hydropower plant model, including a hydroturbine governor control unit and a generator control unit, is established while. Fast terminal slidingmode control design for nonlinear. Nonsingular tsm, fast tsm, terminal sliding mode also has been widely applied to nonlinear process control, for example, rigid robot control etc. Pdf a robust global fast terminal sliding mode controller. An adaptive backstepping nonsingular fast terminal sliding mode. This method is achieved with introducing a new terminal sliding. International journal of advanced global fast terminal.
Research article nonsingular fast terminal sliding mode. Pdf fast terminal sliding mode tracking control of nonlinear. The fast terminal slidingmode control ftsmc idea guarantees fast transient convergence and strong robustness 20. Thus, a faster sliding mode control 6, 7 should be used. Global fast terminal sliding mode control based on radial basis function neural network for course keeping of unmanned surface vehicle lili wan1, yixin su1, huajun zhang1, yongchuan tang2 and binghua shi1 abstract a scheme to solve the course keeping problem of the unmanned surface vehicle with nonlinear and uncertain charac. Adaptive fractionalorder nonsingular fast terminal sliding. Then, fast terminal sliding mode controller is designed and the. 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. Pdf a new fast nonsingular terminal sliding mode control for a. May 29, 2015 in this paper, an adaptive fast terminal sliding mode control technique combined with a global sliding mode control scheme is investigated for the tracking problem of uncertain nonlinear thirdorder systems. Discretetime fast terminal sliding mode control for.
Nonsingular fast terminal slidingmode stabilizer for a class. A fast terminal dynamics is proposed and used in the design of the sliding mode control for singleinput singleoutput nonlinear dynamical systems. Fast terminal sliding mode tracking control of nonlinear uncertain massspring system with experimental verifications saeed amirkhani1, saleh mobayen2, nahal iliaee2, olfa boubaker3 and s hassan hosseinnia4 abstract in this article, a fast terminal sliding mode control technique is used for robust tracking control of a nonlinear uncertain. A novel concept of nonsingular fast tsm, which is able to avoid the possible. An approximate fast terminal sliding mode control is proposed by integrating a nonsingular fast terminal. After proposing a new stable fractionalorder nonsingular and nonlinear switching manifold, a.
Nonsingular fast terminal sliding mode tracking control. Nonlinear systems, robust control, terminal sliding mode control. 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. Based on lyapunov stability theory, the virtual control as sliding mode is taken in the backstepping design and then the tracking differentiator td is employed to eliminate. In this paper an adaptive nonsingular fast terminal sliding mode nftsm control scheme is proposed to control the. Experimental performance of adaptive fast terminal sliding. The technique can ensure the state tracking errors converge to zero in finite time. Adaptive fuzzy global fast terminal sliding mode control of. Nonsingular and fast terminal sliding mode control method.
This paper presents an improved robust tracking control for uncertain robot manipulators. For this purpose, yu and man proposed the fast terminal sliding mode ftsm controller 19. The main objective of paper is to solve the position tracking control problem for permanent magnet linear motor by using the discretetime fast terminal sliding mode control method. Finite time tracking control of mobile robot based on non. Nonsingular fast terminal sliding mode control for spinning. 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. Then, sliding surfaces based on ftsm manifold are designed. Adaptive nonsingular fast terminal sliding mode control for. In this paper, we present a new discretetime fast terminal sliding mode ftsm controller for mirrorbased pointing systems. The global fast dynamic terminal sliding mode control technique is used. Researcharticle adaptive fixedtime fast terminal sliding mode control for chaotic oscillation in power system caoyuanma,1,2 faxinwang,1,2 zhijieli,1,2 jianyuwang,3 chuangzhenliu,1,2. A global fast integral operator terminal adaptive sliding.
Modelling and fast terminal sliding mode control for mirror. However, when the state trajectories of the system are far away from the origin, tsmc cannot present appropriate convergence e ciency like smc 19. This paper develops a global fast terminal sliding mode control based on the backstepping design for an apf. 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. The fast terminal sliding mode control ftsmc idea guarantees fast transient convergence and strong robustness 20. At the first step, full dynamic equations of motion of a novel overactuated flying robot are developed. Aug 29, 2016 fast convergence is achieved using nonsingular fast terminal sliding mode control. The adaptive control term with an improved composite adaptive law can estimate the uncertain parameters and compensate for the modelled dynamical.
On the other hand, to solve the problem of convergence rate, yu et al. Conventional sliding mode control with linear sliding mode surfaces can guarantee that the system state reaches the equilibrium asymptotically 4. The proposed control method can eliminate the chattering phenomenon on controller. This article presents a new method to improve lane tracking performance and to create automatically lane keeping system for active front steering afs vehicles. Terminal sliding mode control for nonlinear systems with. The fast terminal sliding mode control ftsmc has been introduced in references 11,12.
Paper open access terminal sliding mode control of. Pdf a nonsingular fast terminal sliding mode control. Slidingmode guidance and control for allaspect interceptors. Fast terminal sliding mode tracking control of nonlinear. Adaptive fixedtime fast terminal sliding mode control for. Doubleloop integral terminal sliding mode tracking control. An adaptive fast terminal sliding mode control combined with. This paper proposes a practical adaptive fractional order fo terminal sliding mode control smc strategy for tracking control of the linear motor. 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. Some new norms of fast tsm strategies are proposed, and a faster convergence rate is established in comparison with the conventional fast tsm. Numerical simulation results, which are illustrated with a cartpole inverted pendulum system and a ballbeam system, demonstrate that the proposed control law achieves, in general. 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. Terminal sliding mode control for the trajectory tracking of. Aiming at the tracking control problem of a class of uncertain nonlinear systems, a nonsingular fast terminal sliding mode control scheme.
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