Article
Acoustics
Mohammad-Reza Moghanni-Bavil-Olyaei, Jafar Keighobadi, Ahmad Ghanbari, Angelina Olegovna Zekiy
Summary: This paper proposes a passivity-based hierarchical SM control (PBHSMC) approach to tackle the trajectory tracking issue of a special class of UMSs. The approach ensures global asymptotical convergence and satisfies reaching mode and sliding mode conditions by utilizing feedback passivation and an SMC law. Numerical simulation results demonstrate the superior performance of the proposed PBHSMC scheme compared to the conventional SMO-based HSMC, showing better suppression of unwanted oscillations, lower tracking error and overshoot, shorter settling time, smoother and smaller control efforts, and more accurate estimation of state variables with less chattering.
JOURNAL OF VIBRATION AND CONTROL
(2023)
Article
Automation & Control Systems
Liu Yang, Zhongyang Zhao, Dongjie Li
Summary: This paper introduces a new method for reducing the rate-dependent impacts of piezoelectric actuators (PEA) on the positioning system through the development of a feedback control system. The method is based on the fractional order Hammerstein model and proposes a novel fractional order integral sliding mode surface to accurately depict the dynamic characteristics of PEA. The sliding mode surface is constructed using a fractional neural sliding mode control method. The study finds that this method has a quicker response time and lower tracking error compared to other methods.
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
Mathematics
Thaned Rojsiraphisal, Saleh Mobayen, Jihad H. Asad, Mai The Vu, Arthur Chang, Jirapong Puangmalai
Summary: In this study, a novel fast terminal sliding mode control technique based on the disturbance observer is recommended for the stabilization of underactuated robotic systems. The finite time disturbance observer is employed to estimate the exterior disturbances of the system and develop the finite time control law. The proposed controller can regulate the state trajectories of the underactuated systems to the origin within a finite time in the existence of external disturbances.
Article
Construction & Building Technology
Pham Van Trieu, Hoang Manh Cuong, Hoang Quoc Dong, Nguyen Huu Tuan, Le Anh Tuan
Summary: A robust controller has been developed for tracking underactuated mechanical systems, combining fast terminal sliding mode with fractional derivatives and integrals, providing robustness and convergence. By integrating an adaptation estimator, the controller reduces the need for detailed knowledge of system faults, parameter variations, and disturbances.
AUTOMATION IN CONSTRUCTION
(2021)
Article
Engineering, Marine
Weilin Luo, Shuai Liu
Summary: In this paper, a disturbance observer based nonsingular fast terminal sliding mode control (NFTSMC) is proposed for trajectory tracking control of an underactuated autonomous underwater vehicle (AUV). A nonlinear disturbance observer (DO) is designed to estimate complex external disturbances and incorporated into a NFTSMC. Simulation results demonstrate the effectiveness and improved convergence rate of the proposed NFTSMC, as well as its robustness to various disturbances.
Article
Automation & Control Systems
Xin Meng, Baoping Jiang, Hamid Reza Karimi, Cunchen Gao
Summary: This paper focuses on the problem of observer-based event-triggered sliding mode control for fractional-order uncertain switched systems with a positive order less than one. It designs a fractional-order state observer and proposes a fractional-order integral sliding surface function. An event-triggered condition is constructed based on the estimated observer error and sliding mode error vectors to decide whether the current control signal should be updated or not. The paper also derives sufficient conditions in the forms of linear matrix inequalities (LMIs) to ensure finite-time stability of the augmented closed-loop system and discusses the occurrence of infinite triggers within finite time.
Article
Automation & Control Systems
Weijia Zheng, YangQuan Chen, Xiaohong Wang, Yong Chen, Meijin Lin
Summary: In this paper, an enhanced fractional order sliding mode control (FOSMC) method is proposed to improve the control performance of fractional order uncertain systems with multiple mis-matched disturbances. The multiple disturbances and uncertainties are estimated by finite-time disturbance observers and a fractional order extended state observer. A fractional order switching law is designed for fast convergence of system states. The proposed method incorporates feedforward compensation, the fractional order switching law, and an auxiliary state for input saturation. Numerical examples and a motor speed control problem are used to demonstrate the effectiveness of the proposed method through performance comparisons with existing control methods.
Article
Mathematics, Applied
Jing Wang, Changfeng Shao, Xiaolu Chen, YangQuan Chen
Summary: This article presents a novel fractional-order sliding mode control method based on disturbance observer for noncommensurate fractional-order systems with mismatched disturbances. By designing fractional-order disturbance observers independently to estimate mismatched disturbances, a uniform control method is proposed. Simulation results demonstrate the improved control performance of the proposed method.
MATHEMATICAL METHODS IN THE APPLIED SCIENCES
(2021)
Article
Automation & Control Systems
Kamal Rsetam, Zhenwei Cao, Zhihong Man
Summary: The article introduces a terminal sliding mode control for flexible joint robot systems to ensure finite-time convergence of the system output and achieve total robustness against disturbances and errors. The study uses two coordinate transformations and a finite-time sliding mode observer to estimate states and disturbances, with closed-loop stability and finite-time convergence rigorously proven using Lyapunov theorem. The proposed control method's effectiveness is verified through real-time comparative study on FJR manipulators.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2022)
Article
Nanoscience & Nanotechnology
Ming Lin, Xiulan Zhang, Huiming Qiu
Summary: In this paper, an adaptive backstepping command filtered controller is proposed for a class of uncertain strict feedback fractional-order chaotic systems with input saturation and external disturbances. A command filter is designed to avoid the explosion of complexity problem in the conventional backstepping technique. To tackle with filter error and improve synchronization accuracy, a compensation mechanism is provided. Meanwhile, fuzzy logic systems are utilized to approximate unknown functions, and disturbance observers are constructed to reduce the impact of unknown disturbances. In particular, to reduce the chattering phenomenon, a smooth function rather than the sign function is used in the controller design, and the stability of the closed-loop system can be guaranteed by the proposed synchronization controller. A simulation study is provided to confirm the practicality and validity of the proposed method.
Article
Physics, Multidisciplinary
Ali Karami-Mollaee, Oscar Barambones
Summary: This study focuses on controlling uncertain fractional-order multi-input chaotic systems using a fractional dynamic sliding mode controller (FD-SMC). A novel fractional sliding observer (FSO) is constructed to solve the challenge of inconsistent system state dimensions. Comparison with a conventional fractional sliding mode controller (CF-SMC) shows the advantages of FD-SMC in eliminating chattering and the independence of its switching gain on model uncertainties.
PRAMANA-JOURNAL OF PHYSICS
(2022)
Article
Engineering, Mechanical
Zhenhua Zhao, Ting Li, Dong Cao, Jun Yang
Summary: A new bilateral continuous terminal sliding mode control method is proposed to attenuate high-order time-varying disturbance in teleoperation systems using enhanced nonlinear disturbance observer (ENDOB). The control task is transformed into stabilizing position and force tracking errors. ENDOBs are introduced to estimate the high-order lumped disturbances, and a bilateral continuous terminal sliding mode controller is developed based on the estimation. The proposed method is demonstrated to be effective in a bilateral lift robot system.
NONLINEAR DYNAMICS
(2023)
Article
Automation & Control Systems
Wasif Shabbir, Li Aijun, Cui Yuwei
Summary: In this work, a novel active fault-tolerant control (FTC) design scheme is developed for nonlinear dynamic systems with modelling imperfections, parametric uncertainties, and sensor faults. An adaptive radial basis function neural network (RBFNN) is used to estimate the uncertain part of the system dynamics, while a nonlinear observer based on the estimated dynamics is designed for sensor fault estimation (FE). The proposed FTC design incorporates the real-time sensor FE into the sliding mode control (SMC) technique and uses a double power-reaching law to improve convergence and mitigate chattering. The stability of the developed active FTC law is proven using the Lyapunov method, and the scheme is implemented on a nonlinear simulation of an unmanned aerial vehicle (UAV) with successful results.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2023)
Article
Automation & Control Systems
Bingxin Li, Xuefeng Zhang, Xiangfei Zhao, Yaowei Liu, Xin Zhao
Summary: This paper studies observer-based sliding mode control for fractional order singular fuzzy systems with order 0 < α < 1. A non-fragile FOSF observer is designed to reconstruct the unmeasured states, and a novel fractional order integral sliding function is formulated. The admissibility condition of the FOSF error system is derived using the linear matrix inequality approach, and improved using the singular value decomposition approach. Fractional order SMC is constructed based on the fractional order Lyapunov function and sliding surface to ensure the reachability of the sliding surface. Two examples are provided to illustrate the effectiveness of the proposed methods in this paper.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2023)
