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nonsingular terminal sliding mode approach applied to synchronize chaotic systems with unknown parameters and nonlinear inputs

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Chinese Physics B 2012年第6期21卷 107-116页

作者： Mohammad Pourmahmood Aghababa Hassan Feizi Electrical Engineering Department Urmia University of TechnologyUrmiaIran Department of Mathematics Mamaghan BranchIslamic Azad UniversityMamaghanIran

This paper deals with the design of a novel nonsingular terminal sliding mode controller for finite-time synchro-nization of two different chaotic systems with fully unknown parameters and nonlinear inputs. We propose a novel nonsingular terminal sliding surface and prove its finite-time convergence to zero. We assume that both the master＇s and the slave＇s system parameters are unknown in advance. Proper adaptation laws are derived to tackle the unknown parameters. An adaptive sliding mode control law is designed to ensure the existence of the sliding mode in finite time. We prove that both reaching and sliding mode phases are stable in finite time. An estimation of convergence time is given. Two illustrative examples show the effectiveness and usefulness of the proposed technique. It is worthwhile noticing that the introduced nonsingular terminal sliding mode can be applied to a wide variety of nonlinear control problems.

关键词： nonsingular terminal sliding mode finite-time synchronization uncertain parameter,nonlinear input

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modeling of cement raw material vertical grinding system and nonsingular terminal sliding mode control

Modeling of cement raw material vertical grinding system and...

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第32届中国控制与决策会议

作者： Hui Xu Qiang Zhang School of Electrical Engineering University of Jinan

In this paper,for the cement raw material vertical grinding system,firstly,we collect the field data to establish the mathematical model of the delay difference equation,and transform it into the state space equation by the method of variable substitution.Then,the nonsingular terminal sliding mode controller is designed to realize the fast convergence,the double power approach law is adopted to improve the system dynamics and an integral term is added to the sliding mode controller to suppress the effect of time delay on system stability.Lyapunov function proves that the sliding surface can converge to zero in a finite time.Finally,the simulation results show that the control scheme proposed is effective.

关键词： Cement raw material vertical grinding system data modeling time delay nonsingular terminal sliding mode double power approach law

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sliding mode Guidance Law Considering Missile Dynamic Characteristics and Impact Angle Constraints

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International Journal of Automation and computing 2018年第2期15卷 218-227页

作者： Hui-Bo Zhou Jun-Hong Song Shen-Min Song School of Mathematical Sciences Harbin Normal University Center for Control Theory and Guidance Technology Harbin Institute of Technology

In order to improve the precision of guidance for the missile intercepting maneuvering targets, this paper proposes a sliding mode guidance law with impact angle constraints based on the equation of the relative motion of the missile and the target in a 2D plane. Two finite-time convergent guidance laws are proposed based on the nonsingular terminal sliding mode, while, two exponential convergent guidance laws involving dynamic delay are developed through applying the higher-order nonsingular terminal sliding mode. The simulations denote that, in all the four scenarios of the target＇s maneuvering, the guidance laws are able to inhibit the chattering phenomenon of the sliding modes effectively; and from an expected aspect angle, the missiles could attack the targets with high precision and fast speed.

关键词： Autopilot impact angle nonsingular terminal sliding mode finite-time convergent guidance

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Integrated guidance and control of guided projectile with multiple constraints based on fuzzy adaptive and dynamic surface

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Defence Technology（防务技术） 2020年第6期16卷 1130-1141页

作者： Shang Jiang Fu-qing Tian Shi-yan Sun Wei-ge Liang Naval Engineering University Ordnance Engineering CollegeWuhanHubeiChina

Based on fuzzy adaptive and dynamic surface(FADS),an integrated guidance and control(IGC)approach was proposed for large caliber naval gun guided projectile,which was robust to target maneuver,canard dynamic characteristics,and multiple constraints,such as impact angle,limited measurement of line of sight(LOS)angle rate and nonlinear saturation of canard deflection.Initially,a strict feedback cascade model of IGC in longitudinal plane was established,and extended state observer(ESO)was designed to estimate LOS angle rate and uncertain disturbances with unknown boundary inside and outside of system,including aerodynamic parameters perturbation,target maneuver and model errors.Secondly,aiming at zeroing LOS angle tracking error and LOS angle rate in finite time,a nonsingular terminal sliding mode(NTSM)was designed with adaptive exponential reaching law.Furthermore,combining with dynamic surface,which prevented the complex differential of virtual control laws,the fuzzy adaptive systems were designed to approximate observation errors of uncertain disturbances and to reduce chatter of control law.Finally,the adaptive Nussbaum gain function was introduced to compensate nonlinear saturation of canard deflection.The LOS angle tracking error and LOS angle rate were convergent in finite time and whole system states were uniform ultimately bounded,rigorously proven by Lyapunov stability theory.Hardware-in-the-loop simulation(HILS)and digital simulation experiments both showed FADS provided guided projectile with good guidance performance while striking targets with different maneuvering forms.

关键词： Integrated guidance and control Multiple constraints Fuzzy adaptive Dynamic surface nonsingular terminal sliding mode Extended state observer

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Guidance Law Accounting for Second-order Dynamics of Missile Autopilot and Impact Angle Constraints

Guidance Law Accounting for Second-order Dynamics of Missile...

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第26届中国控制与决策会议

作者： WU Liang WANG Weihong XIONG Shaofeng School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aircraft Control Laboratory Beihang University

ISBN: (纸本)9781479937066

In this paper, a planar guidance law accounting for second-order dynamics of missile autopilot and impact angle constraints is designed using backstepping method and nonsingular terminal sliding mode control（NTSM）. nonsingular terminal sliding mode was employed to drive the line of sight（LOS） angle to a desired impact angle in finite time without singularity. In backstepping design, some first-order low-pass filters are introduced to avoid the occurrence of high-order derivatives of LOS angular rate in the expression of guidance law. Using the Lyapunov stability theorem, it is proved that all signals in the closed loop system are ultimately bounded. Simulations of intercepting constant-acceleration maneuvering targets and targets with sinusoidal acceleration show that the guidance law still ensures the impact angle constraints and is able to compensate the autopilot lag.

关键词： Guidance Law Second-order Dynamics nonsingular terminal sliding mode Backstepping method Impact Angle Constraints

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Robust adaptive fixed-time 6 DOF tracking control for spacecraft non-cooperative rendezvous

Robust adaptive fixed-time 6 DOF tracking control for spacec...

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第36届中国控制会议

作者： Yi Huang Yingmin Jia The Seventh Research Division and the Center for Information and Control School of Automation Science and Electrical EngineeringBeihang University （BUAA）

ISBN: (纸本)9781538629185

In this paper, the problem of adaptive fixed-time 6 degree-of-freedom（DOF） tracking control for spacecraft noncooperative rendezvous in presence of the parameter uncertainties and external disturbances is investigated. Firstly, a new multilayer fixed-time sliding mode surface（MFSMS） is designed, and the setting time of the proposed surface can be estimated without the knowledge of the initial conditions. Subsequently, an adaptive fixed-time nonsingular terminal sliding mode（AFNTSM）control law is proposed, which is continuous and can eliminate the chattering phenomenon. Moreover, the proposed AFNTSM control law does not require the precise information of the mass and inertia matrix of the chaser spacecraft and the disturbances.Further, it is proved that the fixed-time reachability of the relative position and attitude into a small region containing the origin can be guaranteed by the proposed control law. Finally, numerical simulations are performed to demonstrate the effectiveness of the proposed control scheme.

关键词： non-cooperative rendezvous 6 DOF fixed-time robust control nonsingular terminal sliding mode spacecraft

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Fault Tolerant Control for UAV with Finite-Time Convergence

Fault Tolerant Control for UAV with Finite-Time Convergence

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第26届中国控制与决策会议

作者： Qiang Qu Shan Gao Daobo Huang Jinsong Mei Bin Zhai College of Automation Engineering Nanjing University of Aeronautics and Astronautics College of Aerospace Engineering Nanjing University of Aeronautics and Astronautics The 27th Research Institute of China Electronics Technology Group Corporation

In this paper, the finite-time fault tolerant control（FTC） of attitude stabilization is developed for attitude dynamical system of a hypersonic unmanned aerial vehicle（UAV） with actuator loss-of-effectiveness（LOE） fault.First, the hypersonic UAV non-linear attitude dynamics are described. A finite-time controller is designed on the basis of nonsingular terminal sliding mode（NTSM） control technique for the UAV attitude dynamical system. Then based on the technique of dynamic surface control, the fault tolerant control plan is proposed, which ensure the closed-loop dynamical systems of UAV converge to a stable state in a finite-time in the case of the actuator LOE faulty. Finally, some simulation results are presented to demonstrate the efficiency of the proposed method.

关键词： finite-time control nonsingular terminal sliding mode nonlinear system UAV Fault tolerant control

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Adaptive Fixed-time Attitude Stabilization of A Rigid Body

Adaptive Fixed-time Attitude Stabilization of A Rigid Body

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第36届中国控制会议

作者： Chuanjiang Li Jingwei Dong Yanning Guo Boyan Jiang Department of Control Science and Engineering Harbin Institute of Technology

ISBN: (纸本)9781538629185

This paper investigates the problem of attitude stabilization for a rigid body subject to external disturbance with unknown bound.A fixed-time based finite time controller is proposed to guai’antee that the closed-loop system gets stable in fixed time,which means the bound of the settling time is independent of the initial conditions.Moreover,the adaptive method is adopted to deal with the external disturbance.Specially,a continuous sinusoidal function is introduced into the controller to solve the inherent singularity problem of terminal sliding mode control.The simulation results are presented to illustrate the performance of the proposed control scheme with high accuracy,fast convergence and good robustness to external disturbance.

关键词： Attitude stabilization Fixed-time control Adaptive control nonsingular terminal sliding mode

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