Transactions of the Institute of Measurement and Control,
Год журнала:
2024,
Номер
unknown
Опубликована: Дек. 6, 2024
In
this
paper,
a
model-free
adaptive
control
scheme
is
proposed
to
address
the
problem
of
system
performance
variations
due
inaccurate
models
overhead
cranes,
and
external
disturbances.
First,
an
fast
integral
terminal
sliding
mode
controller
with
prespecified
setting
accelerate
convergence
surface.
addition,
improved
form
function
introduced
ensure
high
accuracy
state
errors,
while
effectively
enhance
response
tracking
accuracy.
Second,
nonlinear
disturbance
observer
estimate
lumped
dynamics
part
ultra-local
model,
which
can
guarantee
effective
properties.
Finally,
stability
closed-loop
analyzed
by
means
Lyapunov
theory,
effectiveness
superiority
method
proved
numerical
simulation
results.
Scientific Reports,
Год журнала:
2025,
Номер
15(1)
Опубликована: Фев. 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.
Machines,
Год журнала:
2024,
Номер
12(1), С. 32 - 32
Опубликована: Янв. 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.
Electronics,
Год журнала:
2024,
Номер
13(6), С. 1043 - 1043
Опубликована: Март 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.
The Aeronautical Journal,
Год журнала:
2025,
Номер
unknown, С. 1 - 28
Опубликована: Янв. 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.
Sensors,
Год журнала:
2025,
Номер
25(3), С. 941 - 941
Опубликована: Фев. 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.
IET Intelligent Transport Systems,
Год журнала:
2025,
Номер
19(1)
Опубликована: Янв. 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.
IET Control Theory and Applications,
Год журнала:
2025,
Номер
19(1)
Опубликована: Янв. 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.
