Article
Acoustics
Xiaoqi Zou, Guichao Yang, Rongjing Hong, Yongfen Dai
Summary: In this paper, an integral-type terminal sliding mode (TSM) controller with an asymptotic disturbance observer is proposed for uncertain integrator systems with unknown external disturbances. By constructing a disturbance observer with asymptotic estimation performance, a control strategy is developed to ensure chattering-free and eliminate the singularity problem. The aim is to synthesize a more efficient chattering-free sliding mode controller compared to traditional TSM control.
JOURNAL OF VIBRATION AND CONTROL
(2023)
Article
Chemistry, Analytical
Ha Le Nhu Ngoc Thanh, Tuan Tu Huynh, Mai The Vu, Nguyen Xuan Mung, Nguyen Ngoc Phi, Sung Kyung Hong, Truong Nguyen Luan Vu
Summary: This paper presents a trajectory tracking control method for quadcopter UAV based on nonlinear robust backstepping algorithm and extended state/disturbance observer. The proposed algorithm consists of three parts to achieve robust attitude stabilization and superior performance of three-dimension position tracking control.
Article
Engineering, Ocean
Jiaqi Zheng, Lei Song, Lingya Liu, Wenbin Yu, Yiyin Wang, Cailian Chen
Summary: In this paper, a fixed-time sliding mode controller (FSMC) with disturbance observer (DO) is proposed for trajectory tracking control of autonomous underwater vehicles (AUVs under time-varying external disturbances. The FSMC-DO offers faster convergence rate, higher tracking accuracy, and robustness compared to conventional FSMC and finite time controllers, as demonstrated by simulation results.
APPLIED OCEAN RESEARCH
(2021)
Article
Automation & Control Systems
Yao Zhang, Christopher Edwards, Michael Belmont, Guang Li
Summary: This paper proposes a robust model predictive control (RMPC) strategy for perturbed continuous-time systems, using a sliding mode disturbance observer. The main advantage is that it enables the RMPC to be designed based on a model with reduced uncertainties. The proposed sliding mode observer (SMO) is finite-time convergent, allowing the estimation error of the additive disturbance to be explicitly bounded.
Article
Automation & Control Systems
Chen Ding, Shihong Ding, Xinhua Wei, Keqi Mei
Summary: This paper proposes path tracking control methods for autonomous agricultural tractors subject to wheel slip constraints using second-order sliding mode and finite-time disturbance observer techniques. The developed guidance laws achieve good tracking performance and strong robustness even in the presence of slipping effects.
Article
Engineering, Marine
Yeye Liu, Xiaogong Lin, Kun Liang
Summary: This paper addresses the problem of dynamic safety constraint for the DP ship under model uncertainties and unknown environmental disturbances. A new constraint technique based on the unified barrier function is used to convert the constrained system into an equivalent non-constrained one. The position and velocity of the ship are kept within the given constraints by blending the new coordinate transformation into backstepping design. A bio-inspired neurodynamics model is developed to solve the explosion problem of the virtual control law, and a sliding mode disturbance observer is introduced to estimate the uncertainties and disturbances. Numerical simulations demonstrate the effectiveness of the proposed controller and observer.
Article
Automation & Control Systems
Nigar Ahmed, Mou Chen
Summary: The research paper introduces a robust adaptive nonlinear tracking control method based on disturbance observer, which achieves control objectives for uncertain nonlinear systems by designing adaptive gains, disturbance estimation criterion, and stability criterion.
ASSEMBLY AUTOMATION
(2021)
Article
Multidisciplinary Sciences
Quanmin Zhu
Summary: This study introduces a complete model-free sliding mode control framework for continuous-time non-affine non-linear dynamic systems with unknown models. The novelty lies in the introduction of two equalities to assign the derivative of the sliding functions. This framework includes double SMC design, state observer design, and desired reference state vector design, without requiring nominal plant models.
SCIENTIFIC REPORTS
(2021)
Article
Engineering, Electrical & Electronic
Gwanyeon Kim, Sesun You, Sangjun Lee, Donghoon Shin, Wonhee Kim
Summary: In this article, a robust nonlinear torque control method for electric power steering (EPS) systems is proposed, using the steering wheel torque (SWT) model. The method utilizes an extended state observer to estimate disturbances and a nonlinear sliding mode control (SMC) to track the desired SWT and reduce estimation error. Experimental validation is performed using a pinion type EPS hardware-in-the-loop simulation.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2023)
Article
Automation & Control Systems
Lixia Yan, Baoli Ma, Wenjing Xie
Summary: This paper investigates the robust practical tracking control problem of an underactuated hovercraft with unknown external disturbances. A novel control law is developed using state transformation technique and cascade method combined with a transverse function, and the Lyapunov theory is applied for overall closed-loop stability analysis. Simulation results demonstrate the effectiveness of the control design.
ASIAN JOURNAL OF CONTROL
(2021)
Article
Automation & Control Systems
Hean Hua, Yongchun Fang, Xuetao Zhang, Biao Lu
Summary: This article presents a novel robust observer-based nonlinear control approach for quadrotors, effectively addressing unmodeled dynamics and external disturbances in inner and outer loops to reduce tracking errors. The approach integrates coordinate-free attitude controller and nonlinear disturbance observer in the inner loop subsystem, proven to yield uniformly ultimately bounded solutions through rigorous Lyapunov analysis. Comparative experiments demonstrate superior performance in tracking accuracy and robustness compared to traditional controllers.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2021)
Article
Automation & Control Systems
Mohsen Farbood, Zeinab Echreshavi, Mokhtar Shasadeghi, Saleh Mobayen
Summary: This paper proposes an event-triggered integral sliding mode control (ISMC) for perturbed nonlinear Takagi-Sugeno (TS) fuzzy systems. A disturbance observer is designed to estimate and reduce the unmatched disturbances. Two types of sliding surfaces are established to reduce computational burden and communication resources. The proposed control scheme ensures system performance enhancement and Zeno-free behavior.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2023)
Article
Engineering, Mechanical
Bo Zhou, Fuyang Song, Yirong Liu, Fang Fang, Yahui Gan
Summary: This paper investigates the complex force control method of manipulators considering multi-source uncertainties and proposes a new impedance control model and a robust sliding-mode impedance control method. Simulations and experiments validate the effectiveness and feasibility of the proposed method.
NONLINEAR DYNAMICS
(2023)
Article
Automation & Control Systems
Chang Zhang, Shuanghe Yu
Summary: This paper proposes a disturbance observer-based prescribed performance super-twisting sliding mode control (DOB PPSTSMC) for trajectory tracking of the autonomous surface vessels (ASVs). The method eliminates the effects of unknown external disturbances and modeling errors on the control performance, and further suppresses the residual error of disturbance compensation. By considering prescribed performance constraints, the controller enables effective tracking of time-varying desired trajectories and improves the transient performance of the control system. Additionally, the controller is continuous and chatter-free, making it highly practical. The excellence of the control design is demonstrated through simulation and comparison results.
Article
Automation & Control Systems
Junxiao Wang, Lei Zhao, Li Yu
Summary: An adaptive nonsingular terminal sliding mode controller based on disturbance compensation technique is proposed in this article for controlling the position of a magnetic levitation system. The controller integrates time-varying disturbance estimation and compensation using a generalized proportional integral observer to improve disturbance rejection, sacrificing dynamic response to some extent. The adaptive method adjusts the switching gain value depending on the system states, with simulation and experimental results confirming the advantages of the proposed control scheme.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)