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
Automation & Control Systems
Wei-Che Tsai, Chun-Hsien Wu, Ming-Yang Cheng
Summary: This study proposes a disturbance compensation approach based on NURBS to address the impact of friction and cogging force on the position of iron-core linear servomotors. Experimental results demonstrate that the proposed approach exhibits satisfactory performance in tracking control and disturbance compensation.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Mathematics
Runze Chen, Zhenling Wang, Weiwei Che
Summary: This article proposes a novel finite-time attitude-tracking control scheme for spacecraft systems. The scheme uses the prescribed performance control method to handle external disturbance and uncertain inertia matrix. By using a novel polynomial finite-time performance function and a simpler error transformation, the scheme ensures that the attitude-tracking error converges to a preselected region within a prescribed time. A robust adaptive controller is then proposed using the backstepping method and sliding mode control technique. The proposed control scheme guarantees spacecraft system performance under static and transient conditions and achieves complete state trajectory drawing into the designed sliding surface.
Article
Automation & Control Systems
Yueyang Wang, Fazhan Tao, Zhumu Fu, Nan Wang, Qihong Chen
Summary: This paper focuses on an adaptive fuzzy fixed-time control problem for stochastic nonstrict non-linear systems with unknown dead-zones using dynamic surface control (DSC) technology. Fuzzy logic systems (FLSs) and DSC technology are utilized to approximate nonlinear functions and reduce computational complexity. The proposed adaptive fuzzy fixed-time tracking control strategy guarantees semi-global practical fixed-time stability of the system and convergence of the tracking error to a small neighborhood near the origin, as demonstrated by simulation examples.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2023)
Article
Mathematics, Interdisciplinary Applications
Shengxin Sun, Yang Zhao, Hao Wu
Summary: This paper investigates how to improve the success rate of space debris capture by proposing two control methods to solve the control problem of a space robot arm. Firstly, a linear sliding mode control method is presented considering model uncertainties and external disturbances. Then, a novel backstepping control method based on a finite-time integral sliding mode disturbance observer is developed to reduce conservativeness and relax restrictions on external disturbances. Simulation examples are provided to demonstrate the effectiveness of the proposed control methods.
Article
Automation & Control Systems
Jianhui Wang, Peisen Zhu, Biaotao He, Guiyang Deng, Chunliang Zhang, Xing Huang
Summary: An adaptive neural sliding mode control with ESO is proposed to improve the stability of control systems. By combining sliding mode control and ESO, the system shows superior tracking performance and anti-interference ability in simulations.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2021)
Article
Engineering, Aerospace
Zhenlin Zhang, Ke Zhang, Zhiguo Han
Summary: This paper proposes a novel three-dimensional adaptive sliding mode controller for the nonlinear three-dimensional trajectory tracking of missiles. By decomposing the trajectory tracking problem into the pitch channel and the yaw channel, and introducing fast non-singular terminal sliding mode and a novel adaptive reaching law, the controller achieves rapid convergence and stability.
AEROSPACE SCIENCE AND TECHNOLOGY
(2022)
Article
Engineering, Marine
Shanran Tang, Naiyao Xue, Kun Liu, Dongjiao Wang, Jiawei Ye, Tianhui Fan
Summary: Remotely operated vehicles (ROVs) are crucial for marine operations and maintenance in offshore facilities. However, motion control design is a significant challenge, especially with factors like unstable sea currents, uncertainty in parameters, hydraulic delay, and thrust saturations. This study focuses on an open-frame work-class ROV used for cleaning offshore structures. The dynamic model of the ROV is established based on hydrodynamic properties obtained from CFD simulations. A sliding mode controller is designed for trajectory tracking using the command filtered backstepping method. Additionally, an adaptive super-twisting disturbance observer is employed to estimate and compensate for disturbances and modeling uncertainties.
Article
Engineering, Marine
Hao Chen, Jiajia Li, Ning Gao, Jingang Han, Nadia Ait-Ahmed, Mohamed Benbouzid
Summary: Considering the complexity of marine ship operating environment, higher demands are placed on positioning accuracy and performance of Dynamic Positioning (DP) systems. This paper presents an Adaptive Backstepping Fast Terminal Sliding Mode Control (ABFTSMC) to address low accuracy, slow convergence, and poor anti-interference performance in ship positioning due to uncertain dynamic model parameters and unknown time-varying environmental disturbances. The proposed method combines Fast Terminal Sliding Mode Control (FTSMC) with backstepping techniques to ensure robustness to uncertainties and disturbances, and employs an adaptive law to estimate unknown uncertainty terms. Multiple simulation results demonstrate that ABFTSMC outperforms Adaptive Backstepping Control (ABC) and Adaptive Backstepping Sliding Mode Control (ABSMC), confirming the effectiveness and superiority of the proposed approach.
Article
Energy & Fuels
Ijaz Ahmed, Iftikhar Ahmad, Shahzad Ahmed, Hafiz Mian Muhammad Adil
Summary: Three sliding mode controllers for battery electric vehicle charging units were designed, with the supertwisting sliding mode controller effectively reducing chattering and exhibiting better dynamic performance in G2V mode. Through simulation and hardware in the loop experiments, the robustness and effectiveness of the proposed controller were verified.
JOURNAL OF ENERGY STORAGE
(2021)
Article
Automation & Control Systems
Yang Zhou, Shubo Wang
Summary: This paper investigates asymptotic tracking control of nonlinear robotic systems with prescribed performance. The control strategy is developed based on a modified prescribed performance function (PPF) and fuzzy logic system (FLS) to approximate the unknown dynamics. A robust integral of the sign of the error (RISE) term is incorporated into the control design to achieve asymptotic convergence. Numerical simulation and experimental results validate the effectiveness of the proposed control scheme.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2023)
Article
Automation & Control Systems
Zongyu Zuo, Jiawei Song, Wei Wang, Zhengtao Ding
Summary: In this paper, a systematic differentiator-based adaptive backstepping control methodology is proposed for sandwich-like nonlinear systems. With the utilization of a high-order sliding mode differentiator, the nonstrict feedback coupling term resulting from the sandwiched deadzone is estimated and integrated into the backstepping procedure. Theoretical analysis and simulation experiments demonstrate that the proposed approach can achieve ultimate boundedness for closed-loop signals and convergence for output tracking error.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2022)
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
Multidisciplinary Sciences
Shun An, Longjin Wang, Yan He, Jianping Yuan
Summary: This study proposed an adaptive backstepping sliding mode control scheme for autonomous underwater vehicles, effectively addressing the impact of dynamic uncertainty, external disturbance, and quantization error on control. By combining backstepping control technique and sliding mode control method, the control strategy demonstrated improved robustness of the closed-loop system through the use of an adaptive law to estimate total uncertainties in real time.
ADVANCED THEORY AND SIMULATIONS
(2022)
Article
Engineering, Marine
Dongbo Hou, Wei Cao, Wenjun Wang, Yiguo Li, Cong Wang
Summary: This paper addresses the issue of position tracking control of autonomous underwater gliders in the presence of model uncertainties and external disturbances. An adaptive control system based on filtered backstepping is proposed, utilizing neural networks and sliding mode control to enhance robustness. Lyapunov stability theory is employed to demonstrate boundedness of all signals and convergence of tracking errors to a neighborhood of zero. The presented controller offers practical implementation without requiring knowledge of glider parameters and external environmental disturbances. Simulation results verify the effectiveness and robustness of the proposed control system.
