This paper addresses the preassigned-time chaos control problem of memristor chaotic systems with time delays.Since the introduction of memristor,the presented models are nonlinear systems with chaotic dynamics.First,...This paper addresses the preassigned-time chaos control problem of memristor chaotic systems with time delays.Since the introduction of memristor,the presented models are nonlinear systems with chaotic dynamics.First,the TS fuzzy method is adopted to describe the chaotic systems.Then,a sliding-model-based control approach is proposed to achieve the preassigned-time stabilization of the presented models,where the upper bound of stabilization time can be arbitrarily specified in advance.Finally,simulation results demonstrate the validity of presented control approach and theoretic results.展开更多
This paper is concerned with bipartite consensus tracking for multi-agent systems with unknown disturbances.A barrier function-based adaptive sliding-mode control(SMC)approach is proposed such that the bipartite stead...This paper is concerned with bipartite consensus tracking for multi-agent systems with unknown disturbances.A barrier function-based adaptive sliding-mode control(SMC)approach is proposed such that the bipartite steady-state error is converged to a predefined region of zero in finite time.Specifically,based on an error auxiliary taking neighboring antagonistic interactions into account,an SMC law is designed with an adaptive gain.The gain can switch to a positive semi-definite barrier function to ensure that the error auxiliary is constrained to a predefined neighborhood of zero,which in turn guarantees practical bipartite consensus tracking.A distinguished feature of the proposed controller is its independence on the bound of disturbances,while the input chattering phenomenon is alleviated.Finally,a numerical example is provided to verify the effectiveness of the proposed controller.展开更多
This paper presents a novel non-singular fast terminal sliding mode control(NFTSMC)based on the deep flux weakening switching point tracking method in order to improve the control performance of permanent interior mag...This paper presents a novel non-singular fast terminal sliding mode control(NFTSMC)based on the deep flux weakening switching point tracking method in order to improve the control performance of permanent interior magnet synchronous motor(IPMSM)drive systems.The mathematical model of flux weakening(FW)control is established,and the deep flux weakening switching point is calculated accurately by analyzing the relationship between the torque curve and voltage decline curve.Next,a second-order NFTSMC is designed for the speed loop controller to ensure that the system converges to the equilibrium state in finite time.Then,an extended sliding mode disturbance observer(ESMDO)is designed to estimate the uncertainty of the system.Finally,compared with both the PI control and sliding mode control(SMC)by simulations and experiments with different working conditions,the method proposed has the merits of accelerating convergence,improving steady-state accuracy,and minimizing the current and torque pulsation.展开更多
As wind energy is becoming one of the fastestgrowing renewable energy resources,controlling large-scale wind turbines remains a challenging task due to its system model nonlinearities and high external uncertainties.T...As wind energy is becoming one of the fastestgrowing renewable energy resources,controlling large-scale wind turbines remains a challenging task due to its system model nonlinearities and high external uncertainties.The main goal of the current work is to propose an intelligent control of the wind turbine system without the need for model identification.For this purpose,a novel model-independent nonsingular terminal slidingmode control(MINTSMC)using the basic principles of the ultralocal model(ULM)and combined with the single input interval type-2 fuzzy logic control(SIT2-FLC)is developed for non-linear wind turbine pitch angle control.In the suggested control framework,the MINTSMC scheme is designed to regulate the wind turbine speed rotor,and a sliding-mode(SM)observer is adopted to estimate the unknown phenomena of the ULM.The auxiliary SIT2-FLC is added in the model-independent control structure to improve the rotor speed regulation and compensate for the SM observation estimation error.Extensive examinations and comparative analyses were made using a real-time softwarein-the-loop(RT-SiL)based on the dSPACE 1202 board to appraise the efficiency and applicability of the suggested modelindependent scheme in a real-time testbed.展开更多
Aimed at the guidance requirements of some missiles which attack targets with terminal impact angle at the terminal point,a new integrated guidance and control design scheme based on variable structure control approac...Aimed at the guidance requirements of some missiles which attack targets with terminal impact angle at the terminal point,a new integrated guidance and control design scheme based on variable structure control approach for missile with terminal impact angle constraint is proposed.First,a mathematical model of an integrated guidance and control model in pitch plane is established,and then nonlinear transformation is employed to transform the mathematical model into a standard form suitable for sliding mode control method design.A sufficient condition for the existence of linear sliding surface is given in terms of linear matrix inequalities（LMIs）,based on which the corresponding reaching motion controller is also developed.To verify the effectiveness of the proposed integrated design scheme,the numerical simulation of missile is made.The simulation results demonstrate that the proposed guidance and control law can guide missile to hit the target with desired impact angle and desired flight attitude angle simultaneously.展开更多
In order to apply the terminal sliding mode control to robot manipulators,prior knowledge of the exact upper bound of parameter uncertainties,and external disturbances is necessary.However,this bound will not be easil...In order to apply the terminal sliding mode control to robot manipulators,prior knowledge of the exact upper bound of parameter uncertainties,and external disturbances is necessary.However,this bound will not be easily determined because of the complexity and unpredictability of the structure of uncertainties in the dynamics of the robot.To resolve this problem in robot control,we propose a new robust adaptive terminal sliding mode control for tracking problems in robotic manipulators.By applying this adaptive controller,prior knowledge is not required because the controller is able to estimate the upper bound of uncertainties and disturbances.Also,the proposed controller can eliminate the chattering effect without losing the robustness property.The stability of the control algorithm can be easily verified by using Lyapunov theory.The proposed controller is tested in simulation on a two-degree-of-freedom robot to prove its effectiveness.展开更多
A new dynamic terminal sliding mode control （DTSMC） technique is proposed for a class of single-input and single-output （SISO） uncertain nonlinear systems. The dynamic terminal sliding mode controller is formulate...A new dynamic terminal sliding mode control （DTSMC） technique is proposed for a class of single-input and single-output （SISO） uncertain nonlinear systems. The dynamic terminal sliding mode controller is formulated based on Lyapunov theory such that the existence of the sliding phase of the closed-loop control system can be guaranteed, chattering phenomenon caused by the switching control action can be eliminated, and high precision performance is realized. Moreover, by designing terminal equation, the output tracking error converges to zero in finite time, the reaching phase of DSMC is eliminated and global robustness is obtained. The simulation results for an inverted pendulum are given to demonstrate the properties of the proposed method.展开更多
A method for terminal sliding mode control design is discussed. As we know, one of the strong points of terminal sliding mode control is its finite-time convergence to a given equilibrium of the system under considera...A method for terminal sliding mode control design is discussed. As we know, one of the strong points of terminal sliding mode control is its finite-time convergence to a given equilibrium of the system under consideration, which may be useful in specific applications. The proposed method, different from many existing terminal sliding model control desin methods, is studied, and then feedback laws are designed for a class of nonlinear systems, along with illustrative examples.展开更多
In this paper,the sliding-mode control of a bilinear system is studied. It improves the dynamicresponse of the closedweloop system around the original point and is rather robust to the bounded disturbance. At last,the...In this paper,the sliding-mode control of a bilinear system is studied. It improves the dynamicresponse of the closedweloop system around the original point and is rather robust to the bounded disturbance. At last,the model of an ammonia synthesis reactor is adopted to illustrate the phenomenon described.展开更多
This paper addresses the problem of distributed secondary control for islanded AC microgrids with external disturbances.By using a full-order sliding-mode(FOSM)approach,voltage regulation and frequency restoration are...This paper addresses the problem of distributed secondary control for islanded AC microgrids with external disturbances.By using a full-order sliding-mode(FOSM)approach,voltage regulation and frequency restoration are achieved in finite time.For voltage regulation,a distributed observer is proposed for each distributed generator(DG)to estimate a reference voltage level.Different from some conventional observers,the reference voltage level in this paper is accurately estimated under directed communication topologies.Based on the observer,a new nonlinear controller is designed in a backstepping manner such that an FOSM surface is reached in finite time.On the surface,the voltages of DGs are regulated to the reference level in finite time.For frequency restoration,a distributed controller is further proposed such that a constructed FOSM surface is reached in finite time,on which the frequencies of DGs are restored to a reference level in finite time under directed communication topologies.Finally,case studies on a modified IEEE 37-bus test system are conducted to demonstrate the effectiveness,the robustness against load changes,and the plug-and-play capability of the proposed controllers.展开更多
The control problem of coordinated motion of a free-floating space rigid manipulator with external disturbance is discussed. By combining linear momentum conversion and the Lagrangian approach, the full-control dynami...The control problem of coordinated motion of a free-floating space rigid manipulator with external disturbance is discussed. By combining linear momentum conversion and the Lagrangian approach, the full-control dynamic equation and the Jacobian relation of a free-floating space rigid manipulator are established and then inverted to the state equation for control design. Based on the terminal sliding mode control （SMC） technique, a mathematical expression of the terminal sliding surface is proposed. The terminal SMC scheme is then developed for coordinated motion between the base＇s attitude and the end-effector of the free-floating space manipulator with external disturbance. This proposed control scheme not only guarantees the existence of the sliding phase of the closed-loop system, but also ensures that the output tracking error converges to zero in finite time. In addition, because the initial system state is always at the terminal sliding surface, the control scheme can eliminate reaching phase of the SMC and guarantee global robustness and stability of the closed-loop system. A planar free-floating space rigid manipulator is simulated to verify the feasibility of the proposed control scheme.展开更多
This paper provides a novel method to synchronize uncertain fractional-order chaotic systems with external disturbance via fractional terminal sliding mode control. Based on Lyapunov stability theory, a new fractional...This paper provides a novel method to synchronize uncertain fractional-order chaotic systems with external disturbance via fractional terminal sliding mode control. Based on Lyapunov stability theory, a new fractional-order switching manifold is proposed, and in order to ensure the occurrence of sliding motion in finite time, a corresponding sliding mode control law is designed. The proposed control scheme is applied to synchronize the fractional-order Lorenz chaotic system and fractional-order Chen chaotic system with uncertainty and external disturbance parameters. The simulation results show the applicability and efficiency of the proposed scheme.展开更多
This paper addresses a terminal sliding mode control(T-SMC) method for load frequency control(LFC) in renewable power systems with generation rate constraints(GRC).A two-area interconnected power system with wind turb...This paper addresses a terminal sliding mode control(T-SMC) method for load frequency control(LFC) in renewable power systems with generation rate constraints(GRC).A two-area interconnected power system with wind turbines is taken into account for simulation studies. The terminal sliding mode controllers are assigned in each area to achieve the LFC goal. The increasing complexity of the nonlinear power system aggravates the effects of system uncertainties. Radial basis function neural networks(RBF NNs) are designed to approximate the entire uncertainties. The terminal sliding mode controllers and the RBF NNs work in parallel to solve the LFC problem for the renewable power system. Some simulation results illustrate the feasibility and validity of the presented scheme.展开更多
Vision-based pose stabilization of nonholonomic mobile robots has received extensive attention. At present, most of the solutions of the problem do not take the robot dynamics into account in the controller design, so...Vision-based pose stabilization of nonholonomic mobile robots has received extensive attention. At present, most of the solutions of the problem do not take the robot dynamics into account in the controller design, so that these controllers are difficult to realize satisfactory control in practical application. Besides, many of the approaches suffer from the initial speed and torque jump which are not practical in the real world. Considering the kinematics and dynamics, a two-stage visual controller for solving the stabilization problem of a mobile robot is presented, applying the integration of adaptive control, sliding-mode control, and neural dynamics. In the first stage, an adaptive kinematic stabilization controller utilized to generate the command of velocity is developed based on Lyapunov theory. In the second stage, adopting the sliding-mode control approach, a dynamic controller with a variable speed function used to reduce the chattering is designed, which is utilized to generate the command of torque to make the actual velocity of the mobile robot asymptotically reach the desired velocity. Furthermore, to handle the speed and torque jump problems, the neural dynamics model is integrated into the above mentioned controllers. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, the simulation of the control law is implemented in perturbed case, and the results show that the control scheme can solve the stabilization problem effectively. The proposed control law can solve the speed and torque jump problems, overcome external disturbances, and provide a new solution for the vision-based stabilization of the mobile robot.展开更多
In modern vehicles, electronic throttle(ET) has been widely utilized to control the airflow into gasoline engine. To solve the control difficulties with an ET, such as strong nonlinearity,unknown model parameters and ...In modern vehicles, electronic throttle(ET) has been widely utilized to control the airflow into gasoline engine. To solve the control difficulties with an ET, such as strong nonlinearity,unknown model parameters and input saturation constraints,an adaptive sliding-mode tracking control strategy for an ET is presented. Compared with the existing control strategies for an ET, input saturation constraints and parameter uncertainties are adequately considered in the proposed control strategy. At first, the nonlinear dynamic model for control of an ET is described. According to the dynamical model, the nonlinear adaptive sliding-mode tracking control method is presented,where parameter adaptive laws and auxiliary design system are employed. Parameter adaptive law is given to estimate the unknown parameter with an ET. An auxiliary system is designed,and its state is utilized in the tracking control method to handle the input saturation. Stability proof and analysis of the adaptive sliding-mode control method is performed by using Lyapunov stability theory. Finally, the reliability and feasibility of the proposed control strategy are evaluated by computer simulation.Simulation research shows that the proposed sliding-mode control strategy can provide good control performance for an ET.展开更多
Wheeled mobile robots(WMRs) encounter unavoidable slippage especially on the low adhesion terrain such that the robots stability and accuracy are reduced greatly.To overcome this drawback,this article presents a neura...Wheeled mobile robots(WMRs) encounter unavoidable slippage especially on the low adhesion terrain such that the robots stability and accuracy are reduced greatly.To overcome this drawback,this article presents a neural network(NN) based terminal sliding mode control(TSMC) for WMRs where an augmented ground friction model is reported by which the uncertain friction can be estimated and compensated according to the required performance.In contrast to the existing friction models,the developed augmented ground friction model corresponds to actual fact because not only the effects associated with the mobile platform velocity but also the slippage related to the wheel slip rate are concerned simultaneously.Besides,the presented control approach can combine the merits of both TSMC and radial basis function(RBF) neural networks techniques,thereby providing numerous excellent performances for the closed-loop system,such as finite time convergence and faster friction estimation property.Simulation results validate the proposed friction model and robustness of controller;these research results will improve the autonomy and intelligence of WMRs,particularly when the mobile platform suffers from the sophisticated unstructured environment.展开更多
The path-following control of the asymmetry underactuated unmanned surface vehicle(USV) under external disturbances such as unknown constant and irrational ocean currents is discussed, and an adaptive sliding-mode pat...The path-following control of the asymmetry underactuated unmanned surface vehicle(USV) under external disturbances such as unknown constant and irrational ocean currents is discussed, and an adaptive sliding-mode path-following control system is proposed, which comprises a path-variable updated law,a modified integral line-of-sight(ILOS) guidance law based on a time-varying lookahead distance and adaptive feedback linearizing controllers combined with sliding-mode technique. A more accurate USV model without the assumption of having diagonal inertia and damping matrices is first presented, aiming at improving the performance of the path-following control. Next, the coordinate transformation is adopted to decouple the sway dynamic from the rudder angle, and the path-following errors dynamics without non-singular problem are presented in the moving Frenet-Serret frame. Then, based on the cascaded theorem and the adaptive sliding-mode method, the adaptive control law of position errors and course error are designed, among which the lookahead distance and integral gain are all computed as different functions of cross-track error to estimate and compensate the sideslip angle caused by external disturbances adaptively. Finally, according to the Lyapunov and cascaded theorem, the control system proposed is proved to be uniform globally asymptotic stability(UGAS) and uniform semiglobal exponential stability(USGES) when the control objectives are all achieved. Simulation results illustrate the precision and high-quality performance of this new controller.展开更多
An adaptive terminal sliding mode control (SMC) technique is proposed to deal with the tracking problem for a class of high-order nonlinear dynamic systems. It is shown that a function augmented sliding hyperplane can...An adaptive terminal sliding mode control (SMC) technique is proposed to deal with the tracking problem for a class of high-order nonlinear dynamic systems. It is shown that a function augmented sliding hyperplane can be used to develop a new terminal sliding mode for high-order nonlinear systems. A terminal SMC controller based on Lyapunov theory is designed to force the state variables of the closed-loop system to reach and remain on the terminal sliding mode, so that the output tracking error then converges to zero in finite time which can be set arbitrarily. An adaptive mechanism is introduced to estimate the unknown parameters of the upper bounds of system uncertainties. The estimates are then used as controller parameters so that the effects of uncertain dynamics can be eliminated. It is also shown that the stability of the closed-loop system can be guaranteed with the proposed control strategy. The simulation of a numerical example is provided to show the effectiveness of the new method.展开更多
The trajectory tracking control problem is addressed for autonomous underwater vehicle(AUV) in marine environ?ment, with presence of the influence of the uncertain factors including ocean current disturbance, dynamic ...The trajectory tracking control problem is addressed for autonomous underwater vehicle(AUV) in marine environ?ment, with presence of the influence of the uncertain factors including ocean current disturbance, dynamic modeling uncertainty, and thrust model errors. To improve the trajectory tracking accuracy of AUV, an adaptive backstepping terminal sliding mode control based on recurrent neural networks(RNN) is proposed. Firstly, considering the inaccu?rate of thrust model of thruster, a Taylor’s polynomial is used to obtain the thrust model errors. And then, the dynamic modeling uncertainty and thrust model errors are combined into the system model uncertainty(SMU) of AUV; through the RNN, the SMU and ocean current disturbance are classified, approximated online. Finally, the weights of RNN and other control parameters are adjusted online based on the backstepping terminal sliding mode controller. In addition, a chattering?reduction method is proposed based on sigmoid function. In chattering?reduction method, the sigmoid function is used to realize the continuity of the sliding mode switching function, and the sliding mode switching gain is adjusted online based on the exponential form of the sliding mode function. Based on the Lyapu?nov theory and Barbalat’s lemma, it is theoretically proved that the AUV trajectory tracking error can quickly converge to zero in the finite time. This research proposes a trajectory tracking control method of AUV, which can e ectively achieve high?precision trajectory tracking control of AUV under the influence of the uncertain factors. The feasibility and e ectiveness of the proposed method is demonstrated with trajectory tracking simulations and pool?experi?ments of AUV.展开更多
For the position tracking control of hydraulic manipulators,a novel method of time delay control(TDC) with continuous nonsingular terminal sliding mode(CNTSM) was proposed in this work.Complex dynamics of the hydrauli...For the position tracking control of hydraulic manipulators,a novel method of time delay control(TDC) with continuous nonsingular terminal sliding mode(CNTSM) was proposed in this work.Complex dynamics of the hydraulic manipulator is approximately canceled by time delay estimation(TDE),which means the proposed method is model-free and no prior knowledge of the dynamics is required.Moreover,the CNTSM term with a fast-TSM-type reaching law ensures fast convergence and high-precision tracking control performance under heavy lumped uncertainties.Despite its considerable robustness against lumped uncertainties,the proposed control scheme is continuous and chattering-free and no pressure sensors are required in practical applications.Theoretical analysis and experimental results show that faster and higher-precision position tracking performance is achieved compared with the traditional CNTSM-based TDC method using boundary layers.展开更多
基金Project supported by the National Natural Science Foundation of China(Grant Nos.62473348 and 62076229)the Knowledge Innovation Program of Wuhan-Basic Research(Grant No.2023010201010101).
文摘This paper addresses the preassigned-time chaos control problem of memristor chaotic systems with time delays.Since the introduction of memristor,the presented models are nonlinear systems with chaotic dynamics.First,the TS fuzzy method is adopted to describe the chaotic systems.Then,a sliding-model-based control approach is proposed to achieve the preassigned-time stabilization of the presented models,where the upper bound of stabilization time can be arbitrarily specified in advance.Finally,simulation results demonstrate the validity of presented control approach and theoretic results.
文摘This paper is concerned with bipartite consensus tracking for multi-agent systems with unknown disturbances.A barrier function-based adaptive sliding-mode control(SMC)approach is proposed such that the bipartite steady-state error is converged to a predefined region of zero in finite time.Specifically,based on an error auxiliary taking neighboring antagonistic interactions into account,an SMC law is designed with an adaptive gain.The gain can switch to a positive semi-definite barrier function to ensure that the error auxiliary is constrained to a predefined neighborhood of zero,which in turn guarantees practical bipartite consensus tracking.A distinguished feature of the proposed controller is its independence on the bound of disturbances,while the input chattering phenomenon is alleviated.Finally,a numerical example is provided to verify the effectiveness of the proposed controller.
基金supported by the Natural Science Foundation of China under Grant No.61733004the Scientific Research Fund of the Hunan Provincial Education Department under Grand No.18A267.
文摘This paper presents a novel non-singular fast terminal sliding mode control(NFTSMC)based on the deep flux weakening switching point tracking method in order to improve the control performance of permanent interior magnet synchronous motor(IPMSM)drive systems.The mathematical model of flux weakening(FW)control is established,and the deep flux weakening switching point is calculated accurately by analyzing the relationship between the torque curve and voltage decline curve.Next,a second-order NFTSMC is designed for the speed loop controller to ensure that the system converges to the equilibrium state in finite time.Then,an extended sliding mode disturbance observer(ESMDO)is designed to estimate the uncertainty of the system.Finally,compared with both the PI control and sliding mode control(SMC)by simulations and experiments with different working conditions,the method proposed has the merits of accelerating convergence,improving steady-state accuracy,and minimizing the current and torque pulsation.
文摘As wind energy is becoming one of the fastestgrowing renewable energy resources,controlling large-scale wind turbines remains a challenging task due to its system model nonlinearities and high external uncertainties.The main goal of the current work is to propose an intelligent control of the wind turbine system without the need for model identification.For this purpose,a novel model-independent nonsingular terminal slidingmode control(MINTSMC)using the basic principles of the ultralocal model(ULM)and combined with the single input interval type-2 fuzzy logic control(SIT2-FLC)is developed for non-linear wind turbine pitch angle control.In the suggested control framework,the MINTSMC scheme is designed to regulate the wind turbine speed rotor,and a sliding-mode(SM)observer is adopted to estimate the unknown phenomena of the ULM.The auxiliary SIT2-FLC is added in the model-independent control structure to improve the rotor speed regulation and compensate for the SM observation estimation error.Extensive examinations and comparative analyses were made using a real-time softwarein-the-loop(RT-SiL)based on the dSPACE 1202 board to appraise the efficiency and applicability of the suggested modelindependent scheme in a real-time testbed.
基金supported by the Nationa Natural Science Foundation of China(60434010)Outstanding Youth Fund of Heilongjiang Province(JC200606)
文摘Aimed at the guidance requirements of some missiles which attack targets with terminal impact angle at the terminal point,a new integrated guidance and control design scheme based on variable structure control approach for missile with terminal impact angle constraint is proposed.First,a mathematical model of an integrated guidance and control model in pitch plane is established,and then nonlinear transformation is employed to transform the mathematical model into a standard form suitable for sliding mode control method design.A sufficient condition for the existence of linear sliding surface is given in terms of linear matrix inequalities（LMIs）,based on which the corresponding reaching motion controller is also developed.To verify the effectiveness of the proposed integrated design scheme,the numerical simulation of missile is made.The simulation results demonstrate that the proposed guidance and control law can guide missile to hit the target with desired impact angle and desired flight attitude angle simultaneously.
文摘In order to apply the terminal sliding mode control to robot manipulators,prior knowledge of the exact upper bound of parameter uncertainties,and external disturbances is necessary.However,this bound will not be easily determined because of the complexity and unpredictability of the structure of uncertainties in the dynamics of the robot.To resolve this problem in robot control,we propose a new robust adaptive terminal sliding mode control for tracking problems in robotic manipulators.By applying this adaptive controller,prior knowledge is not required because the controller is able to estimate the upper bound of uncertainties and disturbances.Also,the proposed controller can eliminate the chattering effect without losing the robustness property.The stability of the control algorithm can be easily verified by using Lyapunov theory.The proposed controller is tested in simulation on a two-degree-of-freedom robot to prove its effectiveness.
基金the National Natural Science Foundation of China (No.60474025, 90405017).
文摘A new dynamic terminal sliding mode control （DTSMC） technique is proposed for a class of single-input and single-output （SISO） uncertain nonlinear systems. The dynamic terminal sliding mode controller is formulated based on Lyapunov theory such that the existence of the sliding phase of the closed-loop control system can be guaranteed, chattering phenomenon caused by the switching control action can be eliminated, and high precision performance is realized. Moreover, by designing terminal equation, the output tracking error converges to zero in finite time, the reaching phase of DSMC is eliminated and global robustness is obtained. The simulation results for an inverted pendulum are given to demonstrate the properties of the proposed method.
基金This work was supported in part by NNSF and Project 973 of China(No.60221301 and No.60334040)
文摘A method for terminal sliding mode control design is discussed. As we know, one of the strong points of terminal sliding mode control is its finite-time convergence to a given equilibrium of the system under consideration, which may be useful in specific applications. The proposed method, different from many existing terminal sliding model control desin methods, is studied, and then feedback laws are designed for a class of nonlinear systems, along with illustrative examples.
文摘In this paper,the sliding-mode control of a bilinear system is studied. It improves the dynamicresponse of the closedweloop system around the original point and is rather robust to the bounded disturbance. At last,the model of an ammonia synthesis reactor is adopted to illustrate the phenomenon described.
基金supported in part by the Australian Research Council Discovery Project(DP160103567)the program of Jiangsu Specially-Appointed Professor(RK043STP19001)+1 种基金the fund of high-level talents at NJUPT(XK0430919039)the fund of scientific and technological innovation projects for overseas students in Nanjing(RK043NLX19004)。
文摘This paper addresses the problem of distributed secondary control for islanded AC microgrids with external disturbances.By using a full-order sliding-mode(FOSM)approach,voltage regulation and frequency restoration are achieved in finite time.For voltage regulation,a distributed observer is proposed for each distributed generator(DG)to estimate a reference voltage level.Different from some conventional observers,the reference voltage level in this paper is accurately estimated under directed communication topologies.Based on the observer,a new nonlinear controller is designed in a backstepping manner such that an FOSM surface is reached in finite time.On the surface,the voltages of DGs are regulated to the reference level in finite time.For frequency restoration,a distributed controller is further proposed such that a constructed FOSM surface is reached in finite time,on which the frequencies of DGs are restored to a reference level in finite time under directed communication topologies.Finally,case studies on a modified IEEE 37-bus test system are conducted to demonstrate the effectiveness,the robustness against load changes,and the plug-and-play capability of the proposed controllers.
基金the National Natural Science Foundation of China(Nos.10672040 and 10372022)the Natural Science Foundation of Fujian Province,China(No.E0410008)
文摘The control problem of coordinated motion of a free-floating space rigid manipulator with external disturbance is discussed. By combining linear momentum conversion and the Lagrangian approach, the full-control dynamic equation and the Jacobian relation of a free-floating space rigid manipulator are established and then inverted to the state equation for control design. Based on the terminal sliding mode control （SMC） technique, a mathematical expression of the terminal sliding surface is proposed. The terminal SMC scheme is then developed for coordinated motion between the base＇s attitude and the end-effector of the free-floating space manipulator with external disturbance. This proposed control scheme not only guarantees the existence of the sliding phase of the closed-loop system, but also ensures that the output tracking error converges to zero in finite time. In addition, because the initial system state is always at the terminal sliding surface, the control scheme can eliminate reaching phase of the SMC and guarantee global robustness and stability of the closed-loop system. A planar free-floating space rigid manipulator is simulated to verify the feasibility of the proposed control scheme.
基金Project supported by the Fundamental Research Funds for the Central Universities of China (Grant No. 11MG49)
文摘This paper provides a novel method to synchronize uncertain fractional-order chaotic systems with external disturbance via fractional terminal sliding mode control. Based on Lyapunov stability theory, a new fractional-order switching manifold is proposed, and in order to ensure the occurrence of sliding motion in finite time, a corresponding sliding mode control law is designed. The proposed control scheme is applied to synchronize the fractional-order Lorenz chaotic system and fractional-order Chen chaotic system with uncertainty and external disturbance parameters. The simulation results show the applicability and efficiency of the proposed scheme.
基金supported by National Natural Science Foundation of China(60904008,61273336)the Fundamental Research Funds for the Central Universities(2018MS025)the National Basic Research Program of China(973 Program)(B1320133020)
文摘This paper addresses a terminal sliding mode control(T-SMC) method for load frequency control(LFC) in renewable power systems with generation rate constraints(GRC).A two-area interconnected power system with wind turbines is taken into account for simulation studies. The terminal sliding mode controllers are assigned in each area to achieve the LFC goal. The increasing complexity of the nonlinear power system aggravates the effects of system uncertainties. Radial basis function neural networks(RBF NNs) are designed to approximate the entire uncertainties. The terminal sliding mode controllers and the RBF NNs work in parallel to solve the LFC problem for the renewable power system. Some simulation results illustrate the feasibility and validity of the presented scheme.
基金supported by National Key Basic Research and Development Program of China (973 Program,Grant No. 2009CB320602)National Natural Science Foundation of China (Grant Nos. 60834004,61025018)+2 种基金National Science and Technology Major Project of China(Grant No. 2011ZX02504-008)Fundamental Research Funds for the Central Universities of China (Grant No. ZZ1222)Key Laboratory of Advanced Engineering Surveying of NASMG of China (Grant No.TJES1106)
文摘Vision-based pose stabilization of nonholonomic mobile robots has received extensive attention. At present, most of the solutions of the problem do not take the robot dynamics into account in the controller design, so that these controllers are difficult to realize satisfactory control in practical application. Besides, many of the approaches suffer from the initial speed and torque jump which are not practical in the real world. Considering the kinematics and dynamics, a two-stage visual controller for solving the stabilization problem of a mobile robot is presented, applying the integration of adaptive control, sliding-mode control, and neural dynamics. In the first stage, an adaptive kinematic stabilization controller utilized to generate the command of velocity is developed based on Lyapunov theory. In the second stage, adopting the sliding-mode control approach, a dynamic controller with a variable speed function used to reduce the chattering is designed, which is utilized to generate the command of torque to make the actual velocity of the mobile robot asymptotically reach the desired velocity. Furthermore, to handle the speed and torque jump problems, the neural dynamics model is integrated into the above mentioned controllers. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, the simulation of the control law is implemented in perturbed case, and the results show that the control scheme can solve the stabilization problem effectively. The proposed control law can solve the speed and torque jump problems, overcome external disturbances, and provide a new solution for the vision-based stabilization of the mobile robot.
基金partially supported by the National Natural Science Foundation of China(61773189)Natural Science Fundamental of Liaoning Province(20170540443)the Program for Liaoning Innovative Research Team in University(LT2016006)
文摘In modern vehicles, electronic throttle(ET) has been widely utilized to control the airflow into gasoline engine. To solve the control difficulties with an ET, such as strong nonlinearity,unknown model parameters and input saturation constraints,an adaptive sliding-mode tracking control strategy for an ET is presented. Compared with the existing control strategies for an ET, input saturation constraints and parameter uncertainties are adequately considered in the proposed control strategy. At first, the nonlinear dynamic model for control of an ET is described. According to the dynamical model, the nonlinear adaptive sliding-mode tracking control method is presented,where parameter adaptive laws and auxiliary design system are employed. Parameter adaptive law is given to estimate the unknown parameter with an ET. An auxiliary system is designed,and its state is utilized in the tracking control method to handle the input saturation. Stability proof and analysis of the adaptive sliding-mode control method is performed by using Lyapunov stability theory. Finally, the reliability and feasibility of the proposed control strategy are evaluated by computer simulation.Simulation research shows that the proposed sliding-mode control strategy can provide good control performance for an ET.
基金supported by the National Natural Science Foundation of China(61573078,61573147)the International S&T Cooperation Program of China(2014DFB70120)the State Key Laboratory of Robotics and System(SKLRS2015ZD06)
文摘Wheeled mobile robots(WMRs) encounter unavoidable slippage especially on the low adhesion terrain such that the robots stability and accuracy are reduced greatly.To overcome this drawback,this article presents a neural network(NN) based terminal sliding mode control(TSMC) for WMRs where an augmented ground friction model is reported by which the uncertain friction can be estimated and compensated according to the required performance.In contrast to the existing friction models,the developed augmented ground friction model corresponds to actual fact because not only the effects associated with the mobile platform velocity but also the slippage related to the wheel slip rate are concerned simultaneously.Besides,the presented control approach can combine the merits of both TSMC and radial basis function(RBF) neural networks techniques,thereby providing numerous excellent performances for the closed-loop system,such as finite time convergence and faster friction estimation property.Simulation results validate the proposed friction model and robustness of controller;these research results will improve the autonomy and intelligence of WMRs,particularly when the mobile platform suffers from the sophisticated unstructured environment.
基金supported by the National Social Science Foundation of China(15GJ003-278)the National Natural Science Foundation of China(71501182)
文摘The path-following control of the asymmetry underactuated unmanned surface vehicle(USV) under external disturbances such as unknown constant and irrational ocean currents is discussed, and an adaptive sliding-mode path-following control system is proposed, which comprises a path-variable updated law,a modified integral line-of-sight(ILOS) guidance law based on a time-varying lookahead distance and adaptive feedback linearizing controllers combined with sliding-mode technique. A more accurate USV model without the assumption of having diagonal inertia and damping matrices is first presented, aiming at improving the performance of the path-following control. Next, the coordinate transformation is adopted to decouple the sway dynamic from the rudder angle, and the path-following errors dynamics without non-singular problem are presented in the moving Frenet-Serret frame. Then, based on the cascaded theorem and the adaptive sliding-mode method, the adaptive control law of position errors and course error are designed, among which the lookahead distance and integral gain are all computed as different functions of cross-track error to estimate and compensate the sideslip angle caused by external disturbances adaptively. Finally, according to the Lyapunov and cascaded theorem, the control system proposed is proved to be uniform globally asymptotic stability(UGAS) and uniform semiglobal exponential stability(USGES) when the control objectives are all achieved. Simulation results illustrate the precision and high-quality performance of this new controller.
文摘An adaptive terminal sliding mode control (SMC) technique is proposed to deal with the tracking problem for a class of high-order nonlinear dynamic systems. It is shown that a function augmented sliding hyperplane can be used to develop a new terminal sliding mode for high-order nonlinear systems. A terminal SMC controller based on Lyapunov theory is designed to force the state variables of the closed-loop system to reach and remain on the terminal sliding mode, so that the output tracking error then converges to zero in finite time which can be set arbitrarily. An adaptive mechanism is introduced to estimate the unknown parameters of the upper bounds of system uncertainties. The estimates are then used as controller parameters so that the effects of uncertain dynamics can be eliminated. It is also shown that the stability of the closed-loop system can be guaranteed with the proposed control strategy. The simulation of a numerical example is provided to show the effectiveness of the new method.
基金Basic Research Program of Ministry of Industry and Information Technology of China(Grant No.B2420133003)National Natural Science Foundation of China(Grant Nos.51779060,51679054)
文摘The trajectory tracking control problem is addressed for autonomous underwater vehicle(AUV) in marine environ?ment, with presence of the influence of the uncertain factors including ocean current disturbance, dynamic modeling uncertainty, and thrust model errors. To improve the trajectory tracking accuracy of AUV, an adaptive backstepping terminal sliding mode control based on recurrent neural networks(RNN) is proposed. Firstly, considering the inaccu?rate of thrust model of thruster, a Taylor’s polynomial is used to obtain the thrust model errors. And then, the dynamic modeling uncertainty and thrust model errors are combined into the system model uncertainty(SMU) of AUV; through the RNN, the SMU and ocean current disturbance are classified, approximated online. Finally, the weights of RNN and other control parameters are adjusted online based on the backstepping terminal sliding mode controller. In addition, a chattering?reduction method is proposed based on sigmoid function. In chattering?reduction method, the sigmoid function is used to realize the continuity of the sliding mode switching function, and the sliding mode switching gain is adjusted online based on the exponential form of the sliding mode function. Based on the Lyapu?nov theory and Barbalat’s lemma, it is theoretically proved that the AUV trajectory tracking error can quickly converge to zero in the finite time. This research proposes a trajectory tracking control method of AUV, which can e ectively achieve high?precision trajectory tracking control of AUV under the influence of the uncertain factors. The feasibility and e ectiveness of the proposed method is demonstrated with trajectory tracking simulations and pool?experi?ments of AUV.
基金Project(51004085)supported by the National Natural Science Foundation of China
文摘For the position tracking control of hydraulic manipulators,a novel method of time delay control(TDC) with continuous nonsingular terminal sliding mode(CNTSM) was proposed in this work.Complex dynamics of the hydraulic manipulator is approximately canceled by time delay estimation(TDE),which means the proposed method is model-free and no prior knowledge of the dynamics is required.Moreover,the CNTSM term with a fast-TSM-type reaching law ensures fast convergence and high-precision tracking control performance under heavy lumped uncertainties.Despite its considerable robustness against lumped uncertainties,the proposed control scheme is continuous and chattering-free and no pressure sensors are required in practical applications.Theoretical analysis and experimental results show that faster and higher-precision position tracking performance is achieved compared with the traditional CNTSM-based TDC method using boundary layers.
