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Improved nonsingular fast terminal sliding mode Control of Unmanned Underwater Hovering Vehicle

Journal of Shanghai Jiaotong university(Science) 2022年第3期27卷 393-401页

作者： HE Chenlu FENG Zhengping School of Naval Architecture Ocean and Civil EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Ocean Engineering Shanghai Jiao Tong UniversityShanghai 200240China

An improved nonsingular fast terminal sliding mode manifold based on scaled state error is proposed in this *** can significantly accelerate the convergence rate of the state error which is initially far from the origin and achieve the fixed-time *** addition,conventional double power term based reaching law is improved to ensure the convergence of sliding state in the presence of *** proposed approach is applied to the hovering control of an unmanned underwater *** controller exhibits both fast convergence and strong robustness to model uncertainty and external disturbances.

关键词： nonsingular fast terminal sliding mode double power reaching law hovering control underwater vehicle

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Fractional order nonsingular fast terminal sliding mode control technique for 6-DOF robotic manipulator

Fractional order nonsingular fast terminal sliding mode cont...

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第37届中国控制会议

作者： Chun Yin Jianhong Xue Yuhua Cheng Bo Zhang Jing Zhou School of Automation Engineering University of Electronic Science and Technology of China

This paper proposes a nonsingular fast terminal sliding mode（NFTSM） control method for trajectory tracking of robotic manipulator, in which a fractional order switching control law is introduced. In the absence of prior knowledge, an adaptive law is proposed to estimate the upper bound of the uncertainty of robotic manipulator system. Besides, the adopted sliding surface can avoid the singular problem, and drive the system state to the equilibrium rapidly in a finite time. The output of controller is integrated, so the actual control signal is continuous and chattering free. Finally, the proposed control method is applied to a six degree of freedom（DOF） manipulator, and the effectiveness is illustrated in the simulation.

关键词： nonsingular fast terminal sliding mode Trajectory tracking Adaptive law Fractional order Chattering free

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Chebyshev Neural Network-based Finite-Time sliding mode Control of Spacecraft Formation 36

Chebyshev Neural Network-based Finite-Time Sliding Mode Cont...

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第36届中国控制会议

作者： Ruixia Liu Ming Liu Dong Ye Lei Xing Harbin Institute of Technology

ISBN: (纸本)9781538629185

The problem of finite time control of spacecraft formation is investigated in this paper.A nonsingular fast terminal sliding mode(NFTSM) control scheme is proposed by using Chebyshev Neural Network(CNN) for spacecraft formation.A nonsingular fast terminal sliding mode(NFTSM) control strategy is designed for spacecraft formation *** order to approximate the desired nonlinear function and external disturbances a CNN is *** addition,finite-time convergence nature of controller is proved by using Lyapunov stability ***,numerical simulations demonstrate the effectiveness and feasibility of the proposed controller.

关键词： Spacecraft Formation Flying Neural Networks nonsingular fast terminal sliding mode

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Finite-Time Lyapunov-based Second-Order sliding mode Control for a Parallel Robot for Automobile Electro-Coating Conveying

Finite-Time Lyapunov-based Second-Order Sliding Mode Control...

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第三十九届中国控制会议

作者： Mengyang Ye Guoqin Gao Junwen Zhong School of Electrical and Information Engineering Jiangsu University

To attain the high performance tracking control of a parallel robot for automobile electro-coating conveying, a finitetime Lyapunov-based second-order sliding mode control（SOSMC） is studied. By introducing a linear correction term into the traditional nonlinear supertwisting algorithm, an improved continuous SOSMC law is obtained, which is not only robust to the strong disturbance near the origin, but also available to suppress the linearly growing disturbance away from the ***, a fast terminal sliding variable in the form of a piecewise function is designed to avoid the singularity problem, and the finite time convergence of the tracking error is realized to improve the tracking performance. The finite time convergence of the sliding variable and its derivative is proved by Lyapunov theory, the convergence time and the explicit relationship of the controller parameters are provided in the paper. Finally, the validity of the proposed finite-time Lyapunov-based SOSMC is verified by simulation and experiment on the prototype system of the parallel robot.

关键词： Parallel robot Second-order sliding mode nonsingular fast terminal sliding mode Finite-time control

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