Prescribed Performance Model-Free Sliding Mode Control Using Time-Delay Estimation and Adaptive Technique Applied to Industrial Robot Arms

Information Sciences, Journal Year: 2025, Volume and Issue: unknown, P. 121911 - 121911

Published: Jan. 1, 2025

Language: Английский

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An Improved Super-Twisting Sliding Mode Composite Control for Quadcopter UAV Formation

Machines, Journal Year: 2024, Volume and Issue: 12(1), P. 32 - 32

Published: Jan. 3, 2024

Aiming at the nonlinear and multiple disturbances in multi-quadcopter UAV system, this paper proposes a leader–follower composite formation control strategy based on an improved super-twisted sliding mode controller (ISTSMC) finite-time extended state observer (FTESO). For designed algorithm, integral term’s switching function is replaced with non-smooth term to reduce vibration control, further improving overall performance of system. external disturbances, achieves rapid accurate observation disturbances. Finally, through experiments, reliability superiority proposed (CFC) validated.

Language: Английский

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RBFNN-Based Adaptive Integral Sliding Mode Feedback and Feedforward Control for a Lower Limb Exoskeleton Robot

Electronics, Journal Year: 2024, Volume and Issue: 13(6), P. 1043 - 1043

Published: March 11, 2024

In this paper, an adaptive trajectory tracking control method combining proportional–integral–derivative (PID) control, Radial Basis Function neural network (RBFNN)-based integral sliding mode (ISMC), and feedforward i.e., the PIDFF-ISMC method, is proposed. The aims to deal with dynamic uncertainties, disturbances, slow response in lower limb exoskeleton robot systems. Firstly, Lagrange function utilized establish models that include frictional force unmodeled dynamics. Secondly, feedback controller composed of PID RBFNN-based ISMC improve performance decrease chattering phenomenon. adopted reduce time by employing inverse models. Finally, Lyapunov proves stability proposed method. experimental results show can effectively error at two different speeds while alleviating input chattering.

Language: Английский

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A Novel Adaptive Non-Singular Fast Terminal Sliding Mode Control for Direct Yaw Moment Control in 4WID Electric Vehicles

Sensors, Journal Year: 2025, Volume and Issue: 25(3), P. 941 - 941

Published: Feb. 4, 2025

This study proposes an adaptive non-singular fast terminal sliding mode control (NFTSMC)-based direct yaw moment (DYC) strategy to enhance driving stability in four-wheel independent drive (4WID) electric vehicles. Unlike conventional SMC, the proposed method dynamically adapts system uncertainties and reduces chattering, a critical issue applications. The approach begins with development of NFTSMC method, analyzing its performance identify areas for improvement. To robustness responsiveness, novel is introduced. integrates surface fast-reaching law that combines switching mechanism law. designed adjusts gain real time based on conditions, reducing chattering without needing upper bound as required by traditional methods. Concurrently, ensures rapid convergence from any initial condition accurate tracking performance. Simulation results across various steering maneuvers, including step, sinusoidal, fish-hook inputs, demonstrate significantly improves accuracy over SMC Marked reductions RMS peak rate errors, effective mitigation, highlight advancements vehicle safety stability.

Language: Английский

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Prescribed Performance Ship Tracking Control With a Novel Predefined‐Time Performance Function

IET Intelligent Transport Systems, Journal Year: 2025, Volume and Issue: 19(1)

Published: Jan. 1, 2025

ABSTRACT How to accurately process and achieve good transient performance in a short period of time is key consideration factor for the system. A hyperbolic sine function used construct novel predefined‐time convergent prescribed function. This algorithm introduces set new predefined standards convergence assessment based on gamma functions Riemann zeta functions. By integrating indicators speed, stability efficiency into design function, framework ensures achievement establishing comprehensive optimization model. The upper limit settling studied, sufficient conditions achieving predetermined are established, validated through experiments using unmanned surface vessels.

Language: Английский

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Cooperative line-of-sight guidance strategy with prescribed performance and input saturation against active defensive aircraft in two-on-two engagement

The Aeronautical Journal, Journal Year: 2025, Volume and Issue: unknown, P. 1 - 28

Published: Jan. 24, 2025

Abstract This paper considers the guidance issue for attackers against aircraft with active defense in a two-on-two engagement, which includes an attacker, protector, defender and target. A cooperative line-of-sight scheme prescribed performance input saturation is proposed utilising sliding mode control theories, guarantees that attacker able to capture target assistance of protector remaining on between order intercept defender. fixed-time function first-order anti-saturation auxiliary variable are designed game strategy constrain overshoot satisfy requirement overload manoeuver. The alleviates influence external disturbance by implementing observer chattering phenomenon caused sign function. Finally, nonlinear numerical simulations verify strategies.

Language: Английский

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A novel fixed-time prescribed performance sliding mode control for uncertain wheeled mobile robots

Scientific Reports, Journal Year: 2025, Volume and Issue: 15(1)

Published: Feb. 13, 2025

This paper proposes a novel fixed-time prescribed performance sliding mode control method, specifically designed to address trajectory tracking issues in wheeled mobile robots (WMRs) affected by wheel slipping, skidding (WSS), and external disturbances. A new surface is first introduced based on function (PPF) non-singular fast terminal (NFTSF). design ensures that errors converge zero within fixed time while maintaining stability keeping error states predefined limits. (FPP-NFTSMC) algorithm proposed the function. The method integrates uniform second-order (USOSM) provide continuous signal, effectively reducing chattering effect. combines benefits of PPF, NFTSMC, USOSM achieve high-precision position tracking, minimize chattering, guarantee convergence, ensure remain bounds, maintain robustness against WSS, WMR systems demonstrated Lyapunov theory. effectiveness validated through simulations straight-line U-shaped trajectories.

Language: Английский

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Safety Prescribed Performance Control of Virtually-Coupled Trains with Multifold Kinematic Targets and Switching Constraints

ISA Transactions, Journal Year: 2025, Volume and Issue: unknown

Published: Feb. 1, 2025

Language: Английский

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A Finite‐Time Non‐Singular Fast Terminal Sliding Mode Control of Wheeled Mobile Robots With Prescribed Performance

IET Control Theory and Applications, Journal Year: 2025, Volume and Issue: 19(1)

Published: Jan. 1, 2025

ABSTRACT Wheeled mobile robots (WMRs) have become increasingly vital role in modern industries. This research proposes a novel finite‐time prescribed performance sliding mode control (SMC) algorithm for the trajectory tracking of WMRs under effects wheel slipping, skidding, and external disturbances. The proposed approach consists two key components. First, surface is based on function (PPF) non‐singular fast terminal (NFTSF), referred to as PP‐NFTSF. PP‐NFTSF ensures that errors converge zero finite time, while PPF transformed error ensure stability throughout robot's operation by maintaining states within predefined bounds. framework boundaries around zero, thus guaranteeing position will be when reaches zero. Second, SMC (NFTSMC) law with errors, FPP‐NFTSMC, proposed. incorporates second‐order generate continuous signal, effectively minimizing chattering phenomenon SMC. Overall, method maintains all advantages PPF, NFTSMC, algorithm, achieving high performance, decreasing phenomenon, obtaining convergence, boundary robustness. To illustrate convergence WMR systems, proof using Lyapunov theory performed. effectiveness validated working scenarios: straight U‐shaped trajectories 4‐WMR.

Language: Английский

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Time-synchronized control with the least upper bound of fixed settling time

Journal of Automation and Intelligence, Journal Year: 2025, Volume and Issue: unknown

Published: March 1, 2025

Language: Английский

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