Related references
Note: Only part of the references are listed.
Article
Automation & Control Systems
Junxiao Wang et al.
Summary: This paper proposes a novel adaptive fixed-time controller based on disturbance compensation technology for achieving high performance position precision control in magnetic levitation systems. The controller uses a generalized proportional integral observer to estimate and compensate for time-varying interference, which improves anti-interference ability and reduces chattering. Additionally, the switching gain of the controller is adjustable, allowing for improved convergence rate and reduced chattering in different system states.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2023)
Article
Automation & Control Systems
Yadong Ding et al.
Summary: This article proposes a fault-tolerant control scheme for an aerial manipulator, ensuring tracking performance under actuator faults through the use of a novel performance function, backstepping technique, and sliding mode control for stability, with simulations demonstrating effectiveness.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2022)
Article
Chemistry, Analytical
Josue Gonzalez-Garcia et al.
Summary: This paper presents a model-free high-order sliding mode controller with finite-time convergence. The experimental results show that the proposed controller can drive the robot to the desired trajectories in a predefined time with reduced error and energy consumption compared to traditional PID controller and the same sliding mode controller with asymptotic convergence.
Article
Chemistry, Analytical
Khalid A. Alattas et al.
Summary: This paper presents a barrier function adaptive non-singular terminal sliding mode controller for a six-degrees-of-freedom (6DoF) quad-rotor in the presence of matched disturbances. The proposed method achieves convergence of tracking errors to origin by designing a linear sliding surface and a novel non-singular terminal sliding surface. An adaptive control law based on a barrier function is recommended to reject matched disturbances entering the quad-rotor system.
Article
Automation & Control Systems
Haifeng Huang et al.
Summary: This paper investigates the actuator failure compensation control problem for robotic systems with dynamic uncertainties. Control designs for partial loss of effectiveness (PLOE) and total loss of effectiveness (TLOE) of the actuator are considered, and a disturbance observer using neural networks is constructed to mitigate the influence of unknown disturbances. The control design method based on barrier Lyapunov function is utilized to ensure both steady-state and transient performance considering prescribed error bounds. Simulation and experimental studies demonstrate the effectiveness of the proposed controllers in dealing with prescribed performance, system uncertainties, and unknown actuator failures simultaneously.
IEEE TRANSACTIONS ON CYBERNETICS
(2022)
Article
Chemistry, Analytical
Anh Tuan Vo et al.
Summary: This article presents an advanced prescribed performance-tracking control system for uncertain robotic manipulators, with finite-time convergence stability. The proposed controller exhibits improved properties, including estimated convergence speed and predefined upper and lower limits for maximum overshoot during transient responses. Furthermore, it can provide a smooth control torque without losing its robustness, and the control errors inevitably converge to zero within a finite time.
Article
Chemistry, Analytical
Fayez F. M. El-Sousy et al.
Summary: This paper proposes a disturbance observer based on the non-singular terminal sliding mode control method for quadrotors in the presence of wind perturbation. By combining the finite time tracker and disturbance observer, accurate tracking control under different types of perturbations can be achieved for quadrotor UAVs.
Article
Automation & Control Systems
Thanh Nguyen Truong et al.
Summary: A neural network-based non-singular fast terminal sliding mode control method is proposed for path tracking control of uncertain nonlinear systems, achieving faster convergence time, higher tracking accuracy, and less chattering with strong control performance for the entire closed-loop control system.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2022)
Article
Chemistry, Analytical
Josue Gonzalez-Garcia et al.
Summary: This paper validates the feasibility of a model-free high-order sliding mode controller for the station-keeping problem in AUVs. The proposed controller exhibits robust performance against unknown disturbances and maintains a small root mean square error (RMSE) even in the presence of strong ocean currents. The evaluation was done through numerical simulations and experiments, demonstrating the effectiveness of the controller.
Article
Engineering, Mechanical
Van-Cuong Nguyen et al.
Summary: This paper proposes a novel fault-tolerant control tactic for robot manipulator systems using only position measurements. The tactic combines a nonsingular fast terminal sliding mode control (NFTSMC) and a novel high-speed third-order sliding mode observer (TOSMO). The proposed strategy provides excellent features, such as fast convergence time, high tracking precision, chattering phenomenon reduction, robustness against unknown input, and elimination of velocity requirement. The proposed observer improves the convergence speed of the estimated signals and increases the system's dynamic response.
Article
Engineering, Ocean
Jiaqi Zheng et al.
Summary: In this paper, a fixed-time sliding mode controller (FSMC) with disturbance observer (DO) is proposed for trajectory tracking control of autonomous underwater vehicles (AUVs under time-varying external disturbances. The FSMC-DO offers faster convergence rate, higher tracking accuracy, and robustness compared to conventional FSMC and finite time controllers, as demonstrated by simulation results.
APPLIED OCEAN RESEARCH
(2021)
Article
Mathematics, Interdisciplinary Applications
Yang Wang et al.
Summary: This paper addresses the follower-leader formation tracking control problem of multiple autonomous underwater vehicles with uncertainties. A novel predefined-time sliding-mode controller is proposed, which can guarantee convergence of the tracking error to zero in a finite time independent of initial system conditions and allows direct achievement of desired convergence time without trial and error in choosing control parameters. Numerical simulation demonstrates the effectiveness of the proposed method.
CHAOS SOLITONS & FRACTALS
(2021)
Article
Chemistry, Analytical
Yunsheng Fan et al.
Summary: This paper explores robust adaptive path following for uncertain underactuated unmanned surface vehicles. An improved guidance law and adaptive control terms ensure successful path following despite actuator saturation and disturbances. The issue of large sideslips angle in practical navigation is effectively addressed.
Article
Chemistry, Analytical
Anh Tuan Vo et al.
Summary: A robust observer-based control strategy for n-DOF uncertain robot manipulators with fixed-time stability was developed in this paper. The strategy combines fixed-time nonsingular terminal sliding mode control method and a novel observer design to achieve global fixed time stability. Simulation on an industrial robot manipulator confirmed the effectiveness of the proposed control strategy.
Article
Chemistry, Analytical
Thanh Nguyen Truong et al.
Summary: This paper presents a novel finite-time fault tolerance control (FTC) method for robotic manipulators, which estimates uncertainties, disturbances, and faults accurately and on time through a finite-time fault detection observer (FTFDO). By combining a new finite-time terminal sliding surface and a new finite-time reaching control law, the proposed FTC method achieves fast convergence speed and stability for robotic manipulators.
Article
Energy & Fuels
Shubo Wang et al.
Summary: This paper presents a predefined time sliding mode control method for dual-inertia driving systems with unknown disturbances. An adaptive law is used to estimate unknown upper boundary parameters to eliminate the effects of unknown dynamics, achieving fast convergence rate of tracking error. The efficacy of the proposed approach is validated through comparative experiments.
IEEE TRANSACTIONS ON ENERGY CONVERSION
(2021)
Review
Engineering, Marine
Adrian Manzanilla et al.
Summary: This research work focuses on designing a robust control algorithm for the 3D trajectory tracking of a 4DOF Unmanned Underwater Vehicle, which combines integral sliding mode control technique with a super-twisting controller to compensate for disturbances and reduce chattering phenomenon. The proposed controller demonstrates satisfactory performance in simulations and real-time experiments, ensuring convergence to desired references and significant reduction in chattering effect on control inputs.
Article
Computer Science, Information Systems
Anh Tuan Vo et al.
Summary: A new robust control method is developed in this research for trajectory tracking control of uncertain magnetic levitation systems, achieving fixed-time convergence, robust stabilization, and high accuracy. The hybrid controller comprises an adaptive fixed-time disturbance observer and a fixed-time control algorithm. The control system's global fixed-time stability and convergence time boundary are obtained using Lyapunov criteria, allowing for arbitrary settling time adjustment regardless of initial system state.
Article
Computer Science, Information Systems
Thanh Nguyen Truong et al.
Summary: This article proposes a backstepping global fast terminal sliding mode control for trajectory tracking of industrial robotic manipulators. The method integrates a global fast terminal sliding mode surface integral, backstepping control, and High-Order SMC to improve dynamic performance, fast convergence, and ensure global stability. The effectiveness of the designed controller is verified through computer simulations, showing small position and velocity control errors, smooth control torque, and convergence of control errors in a short time.
Article
Computer Science, Information Systems
Van-Cuong Nguyen et al.
Summary: This paper proposes a fault-tolerant control method for robotic manipulators to deal with lumped uncertainties and faults in the absence of tachometer sensors. The third-order sliding mode observer is used to estimate system velocities and uncertainties, leading to improved control performance, reduced chattering phenomenon, and fast finite-time convergence. The stability and convergence of the proposed controller-observer technique are demonstrated using Lyapunov theory.
Article
Automation & Control Systems
Ziquan Yu et al.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2020)
Article
Automation & Control Systems
N. Koksal et al.
Article
Computer Science, Information Systems
Thanh Nguyen Truong et al.
Article
Computer Science, Information Systems
Van-Cuong Nguyen et al.
Article
Engineering, Mechanical
Xuhui Lu et al.
NONLINEAR DYNAMICS
(2019)
Article
Automation & Control Systems
Cesar U. Solis et al.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2017)
Article
Automation & Control Systems
Charalampos P. Bechlioulis et al.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2008)
Article
Automation & Control Systems
SH Yu et al.
Article
Automation & Control Systems
A Levant
INTERNATIONAL JOURNAL OF CONTROL
(2003)
Article
Automation & Control Systems
M Golob et al.
