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finite-time convergence of an nth nonlinear system with unmatched disturbance and its application in integrated guidance and control system

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International Journal of Modeling, Simulation, and Scientific Computing 2018年第5期9卷 59-73页

作者： Cong Zhang Commanding Automation Technique R&D and Application Center the 4th Research Institute of China Aerospace Science and Industry Corporation BeijingP.R.China

The finite-time convergence problem of an nth nonlinear system with unmatched disturbance is primarily studied in this paper. During the recursive procedure, a new finite-timecontroller is designed and proven by adding a sign function and a power integrator. Meanwhile, a C1 positive definite and proper Lyapunov function, which satisfies the finite-timeLyapunov stability law, is designed. Finally, the designed finite-time controller is appliedto some examples and an application of integrated guidance and control system to testand verify its advantage and practicability.

关键词： finite-time convergence unmatched disturbance high-order nonlinear system recursive algorithm integrated guidance and control.

Target Tracking Algorithm Using finite-time convergence Smooth Second-order Sliding Mode Controller for Mobile Robots

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Chinese Journal of Mechanical Engineering 2011年第3期24卷 414-419页

作者： GE Lianzheng ZHAO Lijun GAO Tong State Key Laboratory of Robotics Technique and System Harbin Institute of Technology Harbin 150001 China

Target tracking control for wheeled mobile robot （WMR） need resolve the problems of kinematics model and tracking ***-order sliding mode control is a valid method used in the nonlinear tracking control system,which can eliminate the chattering of sliding mode *** there lacks the research of robustness and uncertain factors for high-order sliding mode *** address the fast convergence and robustness problems of tracking target,the tracking mathematical model of WMR and the target is *** on the finite-time convergence theory and second order sliding mode method,a nonlinear tracking algorithm is designed which guarantees that WMR can catch the target in finite *** the same time an observer is applied to substitute the uncertain acceleration of the target,then a smooth nonlinear tracking algorithm is *** on Lyapunov stability theory and finite-time convergence,a finite time convergent smooth second order sliding mode controller and a target tracking algorithm are designed by using second order sliding mode *** simulation results verified that WMR can catch up the target quickly and reduce the control discontinuity of the velocity of WMR.

关键词： mobile robots second order sliding mode finite-time convergence observer

Adaptive Performance-Constrained Synchronization Control for Hypersonic Flight Vehicle Swarms: A Novel finite-time convergence Protocol Methodology

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Guidance, Navigation and Control 2023年第2期3卷 82-111页

作者： Maolong Lv Chuhan Zhou Air Traffic Control and Navigation College Air Force Engineering University Xi'an ShaanriP.R.China

This paper proposes a novel neural adaptive performance-constrained synchronization tracking control algorithm for multiple hypersonic flight vehicles(HFVs),which are subject to actuator faults and full-state *** proposed method is based on advanced Lyapunov finite-time stability theory and a sophisticated backstepping design *** longitudinal model of HFV is converted into velocity and altitude subsystems through functional *** method presents three significant contributions over the existing state-of-the-art approaches:(a)ensuring finite-time convergence of HFVs systems by guaranteeing that the setting time is lower bounded by a positive constant that is related to the initial states;(b)utilizing a tan-type Barrier Lyapunov function(BLF)to ensure that the synchronization tracking errors of velocity,altitude,flight path angle,angle of attack,and pitch angle rate are maintained within certain performance bounds;and(c)designing a neural adaptive control algorithm and adaptive parameter laws by combining the backstepping design technique and radial basisfunction neural networks(RBFNNs)to handle unknown actuator faults and modeling ***,comparative simulations are conducted to validate the efficacy of the proposed scheme.

关键词： Hypersonic flight vehicles(HFVs) finite-time convergence state constraints neural adaptive synchronization control actuator faults.

A variable structure passivity control method for elastic joint robots based on cascaded high-order state estimation

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Science China(Technological Sciences) 2024年第2期67卷 395-407页

作者： ZHANG JieXin NIE PingYun ZHANG Bo State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai200240China

Passivity-based controllers are widely used to facilitate physical interaction between humans and elastic joint robots,as they enhance the stability of the interaction ***,the joint position tracking performance can be limited by the structures of these controllers when the system is faced with uncertainties and rough high-order system state measurements(such as joint accelerations and jerks).This study presents a variable structure passivity(VSP)control method for joint position tracking of elastic joint robots,which combines the advantages of passive control and variable structure *** method ensures the tracking error converges in a finite time,even when the system faces *** method also preserves the passivity of the ***,a cascaded observer,called CHOSSO,is also proposed to accurately estimate high-order system states,relying only on position and velocity *** observer allows independent implementation of disturbance compensation in the acceleration and jerk estimation *** particular,the observer has an enhanced ability to handle fast time-varying disturbances in physical human-robot *** effectiveness of the proposed method is verified through simulations and experiments on a lower limb rehabilitation robot equipped with elastic joints.

关键词： motion control elastic joint robot finite-time convergence high-order system state estimation physical human-robot interaction

finite-time PID control for nonlinear nonaffine systems

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Science China(Information Sciences) 2024年第11期67卷 238-251页

作者： Zhiqing LIU Ronghu CHI Biao HUANG Zhongsheng HOU College of Mathematics and Physics Qingdao University of Science and Technology College of Automation and Electronic Engineering Qingdao University of Science and Technology Department of Chemical and Materials Engineering University of Alberta School of Automation Qingdao University

This article proposes a finite-time proportional-integral-derivative(FT-PID) control method to fast stabilize the control system to achieve the desired performance within the predesignated time *** a considered nonaffined nonlinear system, we develop a new dynamic linearization approach to reformulate the system model as a linear data model(LDM) whose arguments are consistent with that used in the PID control law. Then, a projection algorithm is presented to estimate the unknown pseudo gradient vector of the LDM. Subsequently, an adaptive tuning algorithm is designed to update the three PID parameters by solving linear matrix inequalities in terms of the predesignated error precision and the finite-time instant. The finite-time convergence of the proposed FT-PID control system is shown mathematically, which guarantees a pre-specified error precision to be achieved within the predesignated finite-time instants. As a result, not only can the proposed FT-PID control save the control cost but it also improves the production efficiency. The simulation study verifies the results.

关键词： PID control finite-time control nonlinear nonaffine systems linear data model finite-time convergence

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Integral terminal sliding mode control for nonlinear systems

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Journal of Systems Engineering and Electronics 2018年第3期29卷 571-579页

作者： GUO Jianguo LIU Yuchao ZHOU Jun Institute of Precision Guidance and Control Northwestern Polytechnical University

This paper proposes a fast integral terminal sliding mode（ITSM） control method for a cascaded nonlinear dynamical system with mismatched uncertainties. Firstly, an integral terminal sliding mode surface is presented, which not only avoids the singularity in the traditional terminal sliding mode, but also addresses the mismatched problems in the nonlinear control system. Secondly, a new ITSM controller with finite convergence time based on the backstepping technique is derived for a cascaded nonlinear dynamical system with mismatched uncertainties. Thirdly, the convergence time of ITSM is analyzed, whose convergence speed is faster than those of two nonsingular terminal sliding ***, simulation results are presented in order to evaluate the effectiveness of ITSM control strategies for mismatched uncertainties.

关键词： terminal sliding mode(TSM) finite-time convergence mismatched disturbance Lyapunov stability nonlinear systems

A finite-time Recurrent Neural Network for Computing Quadratic Minimization with time-Varying Coefficients

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Chinese Journal of Electronics 2019年第2期28卷 253-258页

作者： XIAO Lin LU Rongbo College of Information Science and Engineering Jishou University

This paper proposes a finite-time Zhang neural network(FTZNN) to solve time-varying quadratic minimization problems. Different from the original Zhang neural network(ZNN) that is specially designed to solve time-varying problems and possesses an exponential convergence property, the proposed neural network exploits a sign-bi-power activation function so that it can achieve the finite-time convergence. In addition, the upper bound of the finite convergence time for the FTZNN model is analytically estimated in theory. For comparative purposes, the original ZNN model is also presented to solve time-varying quadratic minimization problems. Numerical experiments are performed to evaluate and compare the performance of the original ZNN model and the FTZNN model. The results demonstrate that the FTZNN model is a more effective solution model for solving time-varying quadratic minimization problems.

关键词： Recurrent neural network Quadratic minimization Activation function finite-time convergence Comparative verification

Three-dimensional guidance law based on adaptive integral sliding mode control

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Chinese Journal of Aeronautics 2016年第1期29卷 202-214页

作者： Song Junhong Song Shenmin Center for Control Theory and Guidance Technology Harbin Institute of Technology

For the terminal guidance problem of missiles intercepting maneuvering targets in the three-dimensional space, the design of guidance laws for non-decoupling three-dimensional engage- ment geometry is studied. Firstly, by introducing a finite time integral sliding mode manifold, a novel guidance law based on the integral sliding mode control is presented with the target acceler- ation as a known bounded external disturbance. Then, an improved adaptive guidance law based on the integral sliding mode control without the information of the upper bound on the target accel- eration is developed, where the upper bound of the target acceleration is estimated online by a designed adaptive law. The both presented guidance laws can make sure that the elevation angular rate of the line-of-sight and the azimuth angular rate of the line-of-sight converge to zero in finite time. In the end, the results of the guidance performance for the proposed guidance laws are pre- sented by numerical simulations. Although the designed guidance laws are developed for the con- stant speed missiles, the simulation results for the time-varying speed missiles are also shown to further confirm the designed guidance laws.

关键词： Adaptive control finite-time convergence Integral sliding mode control Missile Three-dimensional guidance law

finite-time sliding mode attitude control for a reentry vehicle with blended aerodynamic surfaces and a reaction control system

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Chinese Journal of Aeronautics 2014年第4期27卷 964-976页

作者： Geng Jie Sheng Yongzhi Liu Xiangdong Key Laboratory for Intelligent Control&Decision of Complex Systems Beijing Institute of Technology School of Automation Beijing Institute of Technology

This paper proposes a finite-time robust flight controller, targeting for a reentry vehicle with blended aerodynamic surfaces and a reaction control system（RCS）. Firstly, a novel finite-time attitude controller is pointed out with the introduction of a nonsingular finite-time sliding mode manifold. The attitude tracking errors are mathematically proved to converge to zero within finite time which can be estimated. In order to improve the performance, a second-order finite-time sliding mode controller is further developed to effectively alleviate chattering without any deterioration of robustness and accuracy. Moreover, an optimization control allocation algorithm, using linear programming and a pulse-width pulse-frequency（PWPF） modulator, is designed to allocate torque commands for all the aerodynamic surface deflections and on–off switching-states of RCS *** are provided for the reentry vehicle considering uncertain parameters and external disturbances for practical purposes, and the results demonstrate the effectiveness and robustness of the attitude control system.

关键词： Chattering alleviation Control allocation finite-time convergence Flight control systems Second-order sliding mode Singularity elimination Sliding mode control