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Adaptive Sliding Mode Tracking Control for Nonholonomic Wheeled Mobile Robots with finite time convergence

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Adaptive Sliding Mode Tracking Control for Nonholonomic Whee...

Drag-Tracking Guidance for Entry Vehicles with finite time convergence

第36届中国控制会议

作者： Li Xue Geng Zhiyong The State Key Laboratory for Turbulence and Complex Systems of Peking University Department of Mechanics and Engineering Science College of Engineering.Peking University

ISBN: (纸本)9781538629185

This paper investigates the finite-time tracking problem for nonholonomic mobile robots despite of unknown system disturbances. In the proposed tracking control, a novel sliding mode controller is given at torques level such that both the position and the orientation tracking errors convergence to zero within finite time. In particular, by employing the adaptive method during the robot’s moving process, a fast variable is obtained to compensate for the unknown disturbance. Based on the Lyapunov stability analysis, it can be showed the finite time convergence in both reaching and sliding phase is achieved, and all closedloop signals are uniformly ultimately bounded. Finally simulation results are provided to demonstrate the effectiveness of the proposed control scheme.

关键词： nonholonomic wheeled mobile robots sliding mode control adaptive control finite time convergence trajectory tracking

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Drag-Tracking Guidance for Entry Vehicles with Finite Time C...

An Adaptive Full Order Sliding Mode Controller for Mismatched Uncertain Systems

第36届中国控制会议

作者： YAN Han HE yingzi Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control Engineering

A robust entry guidance law with finite time convergence is designed for drag-tracking in this paper.The bank angle is regarded as the control variable.First,a robust sliding mode control（SMC） method,which can guarantee the finite time convergence,is proposed for a class of nonlinear systems with uncertainties and disturbances.Then,after the drag dynamics is given,the finite time guidance law is designed based on the proposed SMC method.A 1000-run Monte Carlo simulation shows the effectiveness of the presented approach.

关键词： Entry vehicle drag-tracking sliding mode control finite time convergence robustness

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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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Robust Chattering-Free finite time Attitude Tracking Control with Input Saturation

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Journal of Systems Science & Complexity 2019年第6期32卷 1597-1629页

作者： CHEN Haitao SONG Shenmin Center for Control Theory and Guidance Technology Harbin Institute of Technology

This paper addresses the attitude tracking control problem of a rigid spacecraft in the presence of the modeling uncertainty,external disturbance,and saturated control input by designing two robust att计ude tracking controllers.The basic controller is formulated using an integral sliding mode surface which is continuous and provides an asymptotic convergence rate for the closed-loop system.In this case,only the external disturbance with the prior information is considered.Then,to provide a finite time convergence rate and further improve the robustness of the control system under the unknown system uncertainty containing both the modeling uncertainty and external disturbance,a novel integral terminal sliding mode surface(ITSMS)is designed and associated w计h the continuous adaptive control method.Besides,a command filter is utilized to deal with the immeasurability problem within the proposed ITSMS and an auxiliary system to counteract the input saturation problem.Digital simulations are presented to verify the effectiveness of the proposed controllers.

关键词： Chattering-free continuous adaptive control finite time convergence input saturation integral terminal sliding mode surface

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finite-time consensus protocols for multi-dimensional multi-agent systems

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Control Theory and Technology 2020年第4期18卷 419-430页

作者： Jieqiang Wei Bart Besselink Junfeng Wu Henrik Sandberg Karl H.Johansson Ericsson Global AI Accelerator Torshamnsgatan 21StockholmSweden Bernoulli Institute for Mathematics Computer Science and Artificial IntelligenceUniversity of GroningenP.O.Box 4079700 GroningenAKThe Netherlands College of Control Science and Engineering Zhejiang University310027 HangzhouChina Division of Decision and Control Systems KTH Royal Institute of Technology10044 StockholmSweden

A fnite.-time consensus protocol is proposed for multi -dimensional multi- agent systems, using direction peserving signumcontrols. Flipp solutions and nonsmooh analysis tehniques are adopted to handle discontinuities. Suficient and ncessaryconditions are provided to guarantee infinte time convergence and boundedness of the solutions. It turns out that the numberof agents which have cotinuous contol law plays an ssenan role in fnite-tine conerence In adidio it is shown thatthe unit bals itoduced bylp, norms. where p ∈[1,∞] , are inariat for the closed lop.

关键词： Multi-agent systems Network consensus finite time convergence Nonsmooth analysis

finite time TRACKING CONTROL FOR RIGID ROBOTIC MANIPULATORS WITH FRICTION AND EXTERNAL DISTURBANCES

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Journal of Systems Science and Systems Engineering 2005年第1期14卷 115-125页

作者： GuangdengZONG YuqiangWU LihuaZHANG InstituteofAutomation QufuNormalUniversityQufuShandong273165China

The finite time tracking problem is considered for robotic manipulators with unknown dynamic friction, bounded disturbances and unmodeled dynamics. A global relay switching control scheme with finite time convergence is proposed. For general finite time variable structure controller, the control signals may escape to infinite in finite time when the initial states of the system are in some specified area, causing the singularity phenomena of the closed-loop system. The design scheme for finite time tracking control uses a two-phase switching control method so that the boundedness of the control signal is guaranteed and the singularity phenomena is avoided.

关键词： finite time convergence switch control singularity problem robotic manipulator systems

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Adaptive terminal sliding mode control for high-order nonlinear dynamic systems

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2003年第1期 59-64页

作者：庄开宇苏宏业张克勤褚健 Institute of Advanced Process Control Zhejiang University Hangzhou 310027 Institute of Advanced Process Control Zhejiang University China National Lab. of Industrial Control Technology

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.

关键词： Terminal sliding mode control finite time convergence Adaptive laws

Perfect synchronization of chaotic systems： a controllability perspective

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Chinese Physics B 2006年第12期15卷 2883-2889页

作者：孙明轩何熊熊俞立 College of Information Engineering Zhejiang University of Technology Hangzhou 310014 China

This paper presents a synchronization method, motivated from the constructive controllability analysis, for two identical chaotic systems. This technique is applied to achieve perfect synchronization for Lorenz systems and coupled dynamo systems. It turns out that states of the drive system and the response system are synchronized within finite time, and the reaching time is independent of initial conditions, which can be specified in advance. In addition to the simultaneous synchronization, the response system is synchronized un-simultaneously to the drive system with different reaching time for each state. The performance of the resulting system is analytically quantified in the face of initial condition error, and with numerical experiments the proposed method is demonstrated to perform well.

关键词： controllability finite time convergence synchronization chaos

Stabilization of More General High-Order Nonholonomic Systems within finite Settling time

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Stabilization of More General High-Order Nonholonomic System...