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Homogeneous Finite-Time Consensus Control for Higher-Order Multi-Agent Systems by Full Order Sliding Mode

Journal of Systems Science & Complexity 2018年第5期31卷 1186-1205页

作者： MONDAL Sanjoy GHOMMAM Jawhar saad maarouf School of Electrical and Electronic Engineering Nanyang Technological University Department of Electrical Engineering Ecole de technologie superieure

This paper investigates the distributed finite-time consensus tracking problem for higher- order nonlinear multi-agent systems （MASs）. The distributed finite-time consensus protocol is based on full order sliding surface and super twisting algorithm. The nominal consensus control for the MASs is designed based on the geometric homogeneous finite time control technique. The chattering is avoided by designing a full order sliding surface. The switching control is constructed by integrating super twisting algorithm, hence a chattering alleviation protocol is obtained to maintain a smooth control input. The finite time convergence analysis for the leader follower network is presented by using strict Lyapunov function. Finally, the numerical simulations validate the proposed homogeneous full-order sliding mode control for higher-order MASs.

关键词： Finite time control full order sliding mode multi agent systems.

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An Adaptive Full Order Sliding Mode Controller for Mismatched Uncertain Systems

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International Journal of Automation and computing 2017年第2期14卷 191-201页

作者： Sanjoy Mondal Jawhar Ghommam maarouf saad Department of Electrical Engineering Ecole de technologie superieure Montreal Canada-H3C1K3 Canada

In this paper, an adaptive full order sliding mode （FOSM） controller is proposed for strict feedback nonlinear systems with mismatched uncertainties. The design objective of the controller is to track a specified trajectory in presence of significant mismatched uncertainties. In the first step the dynamic model for the first state is considered by the desired tracking signal. After the first step the desired dynamic model for each state is defined by the previous one. An adaptive tuning law is developed for the FOSM controller to deal with the bounded system uncertainty. The major advantages offered by this adaptive FOSM controller are that advanced knowledge about the upper bound of the system uncertainties is not a necessary requirement and the proposed method is an effective solution for the chattering elimination from the control signal. The controller is designed considering the full-order sliding surface. System robustness and the stability of the controller are proved by using the Lyapunov technique. A systematic adaptive step by step design method using the full order sliding surface for mismatched nonlinear systems is presented, Simulation results validate the effectiveness of the proposed control law.

关键词： Full order sliding mode adaptive sliding mode finite time convergence reference tracking mismatched uncertainty.

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Impedance learning adaptive super-twisting control of a robotic exoskeleton for physical human-robot interaction

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IET Cyber-Systems and Robotics 2023年第1期5卷 108-121页

作者： Brahim Brahmi Mohammad Habibur Rahman maarouf saad Department of Electrical Engineering College AhuntsicMontrealQuebecCanada Department of Mechanical Engineering University of Wisconsin-MilwaukeeMilwaukeeWIUSA Department of Electrical Engineering École de Technologie SupérieureMontrealQuebecCanada

This study addresses two issues about the interaction of the upper limb rehabilitation robot with individuals who have *** first step is to estimate the human's target position(also known as TPH).The second step is to develop a robust adaptive impedance control mechanism.A novel Non-singular Terminal Sliding Mode Control combined with an adaptive super-twisting controller is being developed to achieve this *** combination's purpose is to provide high reliability,continuous performance tracking of the system's *** proposed adaptive control strategy reduces matched dynamic uncertainty while also lowering chattering,which is the sliding mode's most glaring *** proposed TPH is coupled with adaptive impedance control with the use of a Radial Basis Function Neural Network,which allows a robotic exoskeleton to simply track the desired impedance *** validate the approach in real-time,an exoskeleton robot was deployed in controlled experimental circumstances.A comparison study has been set up to show how the adaptive impedance approach proposed is better than other traditional controllers.

关键词： adaptive control impedance model robust control super twisting controller upper limb rehabilitation robot

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Distributed active fault tolerant control design against actuator faults for multiple mobile robots

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Control Theory and Technology 2019年第4期17卷 367-381页

作者： Mahmoud HUSSEIN Jawhar GHOMMAM Azeddine GHODBANE maarouf saad Vahe NERGUIZIAN Department of Electrical Engineering Ecole de Technologie Superieure1100rue Notre-Dame OuestMontrealQuebecH3C 1K3Canada Department of Electrical and Computer Engineering Sultan Qaboos UniversityP.O.Box 37Al-Khoud 123Sultanate of Oman

This paper investigates the active fault tolerant cooperative control problem for a team of wheeled mobile robots whose actuators are subjected to partial or severe faults during the team *** cooperative robots network only requires the interaction between local neighbors over the undirected graph and does not assume the existence of leaders in the *** assume that the communication exists all the time during the *** avoid the system's deterioration in the event of a fault,a set of extended Kalman filters(EKFs)are employed to monitor the actuators'behavior for each ***,based on the online information given by the EKFs,a reconfigurable sliding mode control is proposed to take an appropriate action to accommodate that *** this research study,two types of faults are *** first type is a partial actuator fault in which the faulty actuator responds to a partial of its control input,but still has the capability to continue the mission when the control law is *** addition,the controllers of the remaining healthy robots are reconfigured simultaneously to move within the same capability of the faulty *** second type is a severe actuator fault in which the faulty actuator is subjected to a large loss of its control input,and that lead the exclusion of that faulty robot from the team ***,the remaining healthy robots update their reference trajectories and form a new formation shape to achieve the rest of the team mission.

关键词： Distributed control non-holonomic mobile robot extended Kalman filter(EKF) sliding mode control fault tolerant control

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Erratum to:Distributed active fault tolerant control design against actuator faults for multiple mobile robots

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Control Theory and Technology 2020年第1期18卷 110-110页

作者： Mahmoud HUSSEIN Jawhar GHOMMAM Azeddine GHODBANE maarouf saad Vahe NERGUIZIAN Department of Electrical Engineering Ecole de Technologie Superieure1100rue Notre-Dame QuestMontrealQuebecH3C 1K3Canada Department of Electrical and Computer Engineering Sultan Qaboos UniversityP.O.Box 31Al-Khoud 123Sultanate of Oman

Erratum to:Control Theory and Technology,2019,17(4),367-381 DOI https://***/10.1007/s11768-019-9076-7 In the published article there are two typesetting errors:1)the paragraph below equation(27)at Page 375:"The differentiation of(26)is given by...."should be"The differentiation of(27)is given by....";and 2)the paragraph below equation(36)at Page 375:"Based on Gersgorin Circle Criterion[20],the eigenvalues of the Laplacian matrix in(38)are in the left-half *** implies that...the end of the proof".should be"Based on Gersgorin Circle Criterion[20],the eigenvalues of the Laplacian matrix in(36)are in the left-half *** implies that...the end of the proof."

关键词： implies Criterion proof

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