Editorial Material
Engineering, Electrical & Electronic
Mohammad Saleh Tavazoei
Summary: This note points out some drawbacks in the Lyapunov function-based analyses for designing a backstepping sliding mode controller in the above-titled article, including ignoring terms in simplification of the time-derivative of Lyapunov functions and the inability to conclude the finite-time convergence of error signals from a Lyapunov function-based inequality.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS
(2022)
Article
Engineering, Mechanical
Bin Wang, Pengda Ren, Xinhao Huang
Summary: The backstepping sliding-mode control method improves the control accuracy and stability of the piezoelectric pump-controlled actuator system, with better anti-jamming ability and tracking performance compared to fuzzy PID and ordinary sliding-mode control.
Article
Automation & Control Systems
Jaime Gonzalez-Sierra, Alejandro Dzul, Edgar Martinez
Summary: This article presents a dynamic model based on distance and orientation for leader-follower control between an omnidirectional mobile robot and a quadrotor UAV. Numerical simulations and real-time experiments demonstrate the performance of the proposed control strategy.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2022)
Article
Engineering, Electrical & Electronic
Hei-Pei Yu, Minyi Wang, Jiaqianhao Yang, Jing-Jing Xiong
Summary: In this paper, a parallel-structure-based sliding mode control (PSMC) method is proposed to address the problem of incomplete yaw angle working range in a class of sliding mode control for quadrotor unmanned aerial vehicle (UAV). The controller design is based on the dynamic model of the quadrotor UAV, which is considered to be composed of fully actuated and underactuated subsystems. The stability of the sliding mode manifold coefficients is analyzed using the Hurwitz stability analysis, and the stabilities of both subsystems are demonstrated using Lyapunov theory. Comparative simulation results show that the PSMC improves the working range of yaw angle and validates the effectiveness of the proposed control method.
JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY
(2023)
Article
Engineering, Chemical
Shun-Hung Tsai, Yi-Ping Chang, Hung-Yi Lin, Luh-Maan Chang
Summary: A robust trajectory tracking control scheme for quadrotor unmanned aircraft vehicles is proposed, using a combination of sliding mode and integral backstepping. The stability of the controller is investigated through Lyapunov stability analysis, and the effectiveness is demonstrated through numerical simulations with disturbances and experiments.
Article
Automation & Control Systems
Yen-Chen Liu, Tsung-Wei Ou
Summary: This paper presents the design, analysis, and implementation of an adaptive backstepping controller for underactuated quadrotors to track time-varying trajectories with parameter uncertainties. By decoupling uncertain mass and inertia from lifting force and moment torque, stability and convergence of tracking errors are ensured through adaptive laws. The control scheme is extended to quadrotors with velocity motor input, addressing trajectory generation and tracking performance without the need for acceleration information. Simulation and experimental results demonstrate the efficacy of the proposed controller for object transportation.
IET CONTROL THEORY AND APPLICATIONS
(2021)
Article
Engineering, Mechanical
Tianpeng Huang, Tieshan Li
Summary: This paper addresses the problem of attitude control of quadrotor UAV, introducing a mathematical model of the system and developing a finite-time disturbance observer (FTDO) to compensate for external disturbance. A backstepping sliding mode control technique is proposed based on the FTDO to stabilize the quadrotor UAV's attitude angles, eliminating tracking errors asymptotically. The bound of transient attitude tracking error is derived in terms of L-2 norm by constructing an auxiliary equation. Comparative simulations demonstrate the effectiveness of the proposed control scheme.
NONLINEAR DYNAMICS
(2023)
Article
Computer Science, Interdisciplinary Applications
Pikaso Pal, V Mukherjee, Hinsermu Alemayehu, Gang Gyoo Jin, Gosa Feyisa
Summary: This article focuses on the synchronization problem of different chaotic systems, addressing the control problem with a robust aggregate of backstepping and sliding mode control. An adaptation law is used to estimate uncertainty, while the Lyapunov stability theory is utilized to confirm the stability of the closed-loop system. Simulation works validate the effectiveness of the chaos synchronization method.
MATHEMATICS AND COMPUTERS IN SIMULATION
(2021)
Article
Automation & Control Systems
Hafiz Muhammad Salman Yaseen, Syed Ahmad Siffat, Iftikhar Ahmad, Ali Shafiq Malik
Summary: This paper proposes three nonlinear controllers for position and flux tracking in a magnetic levitation system. Through simulation and comparative analysis, it is found that the adaptive terminal sliding mode control has better performance. The robustness of the proposed controllers is also validated through parameter variations and disturbances.
Article
Engineering, Aerospace
Jianghua Wang, Khalid A. Alattas, Yassine Bouteraa, Omid Mofid, Saleh Mobayen
Summary: An adaptive command-filtered backstepping sliding mode control scheme is proposed for finite-time tracking control of quad-rotor UAV system under modeling uncertainties and external disturbances.
AEROSPACE SCIENCE AND TECHNOLOGY
(2023)
Article
Automation & Control Systems
Chunxia Bao, Baotong Cui, Xuyang Lou, Wei Wu, Jiajia Jia
Summary: This article focuses on the exponential stabilization of parabolic distributed parameter systems with Neumann/mixed boundary conditions and external disturbance. A sliding mode boundary control scheme based on the backstepping method is adopted to handle the bounded disturbance. The exponential stability of the system along the selected sliding surface is proven. A sliding mode boundary controller is designed to regulate and maintain the sliding motion on the surface. Numerical simulations are provided to validate the theoretical results.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Mathematics
Jesus Alfonso Medrano-Hermosillo, Ricardo Lozoya-Ponce, Abraham Efraim Rodriguez-Mata, Rogelio Baray-Arana
Summary: This paper presents the dynamic modeling and control of robot manipulators using Hamilton's equations in the screw theory framework. The novelty lies in obtaining the laws of control directly with screws and co-screws, which is considered modern robotics by many authors. Geometric algebra (GA) is introduced as a simple and iterative tool to obtain screws and co-screws. The Hamiltonian equations of motion are developed using screws and co-screws, and two control laws are designed for error convergence to zero.
Article
Automation & Control Systems
Hui Pang, Rui Yao, Peng Wang, Zijun Xu
Summary: This paper proposes a composite adaptive backstepping robust tracking controller to improve the lateral dynamics stability of an electric vehicle, which combines adaptive backstepping and dynamic surface control techniques. The controller design is verified through theoretical analysis and simulations.
CONTROL ENGINEERING PRACTICE
(2021)
Article
Computer Science, Information Systems
Qijie Chen, Yuqiang Jin, Taoyu Wang, Yao Wang, Tinglong Yan, Yufeng Long
Summary: This paper proposes an anti-disturbance control for UAV formations in a three-dimensional environment using relative information. An error estimation model based on the UAV model is established to accurately describe the UAV cluster motion error. The control law to achieve the stability of the UAV formation under bounded perturbation is also derived using the backstepping control strategy. To achieve optimal control of the UAV formation under performance constraints, an algorithm based on model predictive control is proposed, and an ant colony algorithm is used to accelerate the solution process. The stability of the UAV formation under the action of this algorithm is investigated, and comparative simulations verify the superiority and effectiveness of the algorithm compared with the traditional backstepping control method.
Article
Automation & Control Systems
Dong Qu, Wen-Bo Xie, Guan-Qun Chen, Bing Yang, Yan Peng
Summary: This article introduces an observer-controller structure for nonlinear systems with external disturbances, uncertainties, and performance constraints. By utilizing a sliding mode observer, an integral barrier Lyapunov function, an equivalent output injection technique, and backstepping technique, the proposed approach is able to limit the signals and tracking error in the closed-loop system, ensuring stability and performance.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
