Research article nonsingular terminal sliding mode control. 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. The presented video is giving matlab programing for terminal sliding mode control with singularity. 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. 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. Design and implementation of terminal sliding mode control. Highperformance fractional order terminal sliding mode. Nonsingular terminal sliding mode control of nonlinear second. School of electrical and information engineering, jiangsu university, zhenjiang, jiangsu 2120, china. Pdf nonsingular terminal sliding mode control of a. The influence of the controller parameters was investigated. Terminal sliding mode control, finitetime convergence, non. 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.
The controlled system is then said sliding mode and its dynamics becomes. Terminal sliding mode control for highorder nonlinear dynamic systems. Conventional sliding mode control with linear sliding mode surfaces can guarantee that the system state reaches the equilibrium asymptotically 4. Pdf nonsingular terminal sliding mode control of rigid.
This article addresses the projective lag synchronization for a class of secondorder chaotic systems via a modified terminal sliding mode control tsmc. Some new norms of fast tsm strategies are proposed, and a faster convergence rate is established in comparison with the conventional fast tsm. Classical rst order sliding mode higher order sliding mode from 1rst order to higher order sliding modes w. Pdf fast terminal sliding mode tracking control of nonlinear. Sliding mode controller design sliding mode control is a special version of an ono control. To approximate unknown nonlinear functions of these systems, a neural network model is. One in the input channel is generated by an exogenous system with uncertainty. Modelling and fast terminal sliding mode control for mirrorbased. Finally, simulation results are presented to illustrate the e.
These finite time convergent guidance laws suffer from singularity leading to control saturation. Guidance laws based on a conventional sliding mode ensures only asymptotic convergence. Then terminal sliding mode control laws are con structed for some classes of nonlinear systems. This method is achieved with introducing a new terminal sliding. Nonsingular terminal sliding mode guidance with impact. Sliding mode control lecture 12 normal and nonsingular. Optimal terminal slidingmode control for secondorder. The terminal sliding surface is constructed with a differential odd function, which is a superset of. 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. This paper addresses the finite time attitude tracking for rigid spacecraft with inertia uncertainties and external disturbances. 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. 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. Adaptive backstepping nonsingular fast terminal sliding.
A new terminal sliding mode manifold is first proposed for the secondorder system to enable the elimination of the singularity problem associated with. Modelling and fast terminal sliding mode control for. The key idea is to apply strong control action when the system deviates from the desired behavior. Then terminal sliding mode control laws are constructed for some classes of nonlinear systems. This cited by count includes citations to the following articles in scholar. Pdf maximum power point tracking of photovoltaic systems. Nonsingular terminal sliding mode control of underwater. The fast terminal sliding mode control ftsmc has been introduced in references 11,12. Nonlinear systems, robust control, terminal sliding mode control. Nonsingular terminal sliding mode control of rigid manipulators. A control method, different from many existing terminal sliding model control design methods, is proposed based on a new switching law and continuous.
Research article fractionalorder terminal slidingmode. This chapter introduces three kinds of terminal sliding mode controllers. Fast convergence rate of the system states can be retained when the. The hierarchical terminal slidingmode structure is used to enable finite time reachability of the system equilibrium. This paper presents a global nonsingular terminal sliding mode controller for rigid manipulators. The ones marked may be different from the article in the profile. Under the proposed controllers, the states of the inputoutput subsystem can be. Nonsingular fast terminal sliding mode control of high. Pdf on nonsingular terminal slidingmode control of. In, the concept of terminal attractor is first proposed, and terminal sliding mode control tsmc is proposed as a result.
Pdf in this article, a fast terminal sliding mode control technique is used for robust tracking control of a nonlinear uncertain massspring. Practical tracking control of linear motor with adaptive. Adaptive neural network terminal sliding mode control for. 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. Fractionalorder terminal slidingmode control for buck dc.
Pdf advanced sliding mode control for mechanical systems pp 7162 cite as. However, convergence to the desired impact angle within a finite time is important in most practical guidance applications. A new approach to terminal sliding mode control design request. Also a lyapunov function was given to prove the sliding mode method is right and reasonable. 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. This lecture is about normal and nonsingular terminal sliding mode control. View enhanced pdf access article on wiley online library html view download pdf for offline viewing. The disturbances are supposed to include two parts.
Terminal sliding mode control of airship pitch channel. To eliminate the chattering phenomenon, a continuous nonsingular terminal sliding mode control law is designed using the secondorder sliding mode approach. Multiinput uncertain linear systems with terminal sliding. In this paper, we extend the sliding mode idea to a class of unmatched uncertain variable structure systems. The design of variable structure control with terminal sliding modes for multiinput uncertain linear systems is discussed. By introducing a non singular terminal sliding mode manifold, a novel terminal sliding mode controller is designed for the speed loop.
Adaptive backstepping terminal sliding mode control method. It is observed that the chosen value of terminal power aims to make a compromise between the startup and the moment when load changes. But detailed simulation result shows that the response is very quick but it. Composite disturbanceobserverbased control and terminal. 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. Nonsingular terminal sliding mode control for a quadrotor. Terminal sliding mode control design for uncertain dynamic systems. Tsmc is known to be superior over the conventional sliding mode control technique in terms of the. 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 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.
First, a new nonsingular terminal sliding mode ntsm surface is proposed for singularity elimination. Terminal sliding mode control for the trajectory tracking. Adaptive nonsingular fast terminal sliding mode control. Doubleloop integral terminal sliding mode tracking. In this paper, guidance laws to intercept targets at a desired impact angle, from any. This paper proposes a practical adaptive fractional order fo terminal sliding mode control smc strategy for tracking control of the linear motor. 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. This paper focuses on the trajectory tracking control of unmanned underwater vehicles uuvs in the presence of dynamic uncertainties and timevarying external disturbances. Nonsingular terminal sliding mode control of nonlinear. Integral terminal sliding mode formation control of non. The motivation of this controller is to introduce the lyapunov function vx. 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. Terminal sliding mode control for nonlinear systems with. 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. References 1 zhuang ky, zhang kq, su hy, and chu j. 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.
The tracking control problem for uncertain spatial robot is investigated by means of adaptive terminal sliding mode control in this article. To reach the equilibrium within finite time, terminal sliding mode tsm control method was proposed in 7. This paper presents a new design of terminal sliding mode control for nlink rigid robot manipulators. In this paper, we present a new discretetime fast terminal sliding mode ftsm controller for mirrorbased pointing systems. 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. A new nonsingular terminal sliding mode control for rigid.
Highaccuracy tracking control of robot manipulators using. 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. The adaptive control term with an improved composite adaptive law can estimate the uncertain parameters and compensate for the modelled dynamical. Pdf 955 k nonsingular terminal sliding mode control of underwater remotely operated vehicles. On nonsingular terminal slidingmode control of nonlinear. Optimal terminal slidingmode control for secondorder motion systems michael ruderman abstractterminal sliding mode tsm control algorithm, and its nonsingular re. Projective lag synchronization of secondorder chaotic. Request pdf a new approach to terminal sliding mode control design in this paper, terminal sliding mode control design is considered.
Terminal sliding mode control for nonlinear systems with both matched and unmatched uncertainties v. Terminal sliding mode control for rigid robots sciencedirect. Adaptive nonsingular fast terminal sliding mode control for. The fractional order terminal sliding mode control ftsmc based on a double closedloop structure of voltage and current has been proposed. 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. This work introduces a maximum power point tracking method based on fast terminal sliding mode control ftsmc for photovoltaic systems. Fast terminal slidingmode control design for nonlinear dynamical systems. Rnn and other control parameters are adjusted online based on the backstepping terminal sliding mode controller. Nonsingular terminal sliding mode control of uncertain.
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