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24th International Conference on control, Automation and Systems

作者： Haile, Teka Blen Takaba, Kiyotsugu Ritsumeikan Univ Dept Elect & Elect Engn Kusatsu Shiga Japan

ISBN: (纸本)9798331517939;9788993215380

This paper presents a robust control approach for Steer-by-Wire (SBW) system, aiming to enhance steering performance amidst parameter variations, external disturbances, and road condition changes. integral terminal sliding mode control (ITSMC) is introduced to bolster robustness. Comparative analysis with a Conventional sliding mode controller underscores ITSMC's superior tracking performance. MATLAB Simulink simulations validate ITSMC's efficacy in improving SBW system tracking amidst uncertainties, highlighting its potential for enhancing automotive safety and performance.

关键词： steer-by-wire system sliding mode control integral terminal sliding mode control

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Adaptive integral terminal sliding mode control to Improve Maneuverability of Electric Vehicle Considering Rollover and Inputs Saturation

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IEEE TRANSACTIONS ON TRANSPORTATION ELECTRIFICATION 2025年第2期11卷 6012-6024页

作者： Liang, Zhongchao Gao, Qingyang Shen, Mingyu Liu, Jian Gao, Jinwu Hu, Yunfeng Zhao, Jing Northeastern Univ Sch Mech Engn & Automation Shenyang 110819 Peoples R China Natl Key Lab Automot Chassis Integrat & Bion Changchun 130025 Peoples R China Jilin Univ Dept Control Sci & Engn Changchun 130012 Peoples R China

As vehicles approach or exceed safety thresholds, their dynamics may deteriorate, potentially causing rollovers. In such circumstances, control inputs frequently encounter saturation. This article concentrates on enhancing vehicle maneuverability and preventing rollovers under input saturation constraints. A composite control structure is established to address saturation situations when control inputs approach or reach their unknown boundaries, ensuring improved control performance. Specifically, an adaptive integral terminal sliding mode controller, combined with a torque distribution strategy, is designed to align the controlled vehicle with a reference model while managing input saturation. Furthermore, an active suspension system is implemented to stabilize load transfer effects and prevent rollovers. The proposed control strategy are validated through hardware-in-the-loop (HiL) tests. Specifically, in the fishhook test and the S-curve test, the mean square errors (mse) of the difference between the ideal value and the yaw rates are 6.852E-4 and 6.464E-4, respectively. Additionally, the load transfer ratios (LTRs) mse are 1.970E-3 and 1.940E-3. These results indicate that the AITSMC protocol consistently outperforms conventional controllers.

关键词： Tires Rollover Force sliding mode control Protocols Wheels Roads Perturbation methods Mathematical models Couplings Input saturation integral terminal sliding mode control maneuverability improvement rollover prevention

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Barrier Function-Based Adaptive Super-Twisting integral terminal sliding mode control for a Quad-Rotor UAV

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IEEE ACCESS 2024年 12卷 3992-3999页

作者： Chen, Xinxin Guangdong Technol Coll Sch Elect & Elect Engn Zhaoqing 526110 Peoples R China

In this paper, a novel barrier function-based super-twisting integral terminal sliding mode control algorithm is proposed for a quad-rotor unmanned aerial vehicle (UAV). The approach of employing an integral terminal sliding mode control strategy is adopted to achieve an equivalent control, while the switching control law is designed using the super-twisting algorithm. The barrier function is introduced as the gain of switching control law. The integral terminal sliding mode approach guarantees that the system's initial state lies on the sliding mode surface, while also enhancing the convergence rate of the system state through exponential acceleration. Super-twisting algorithm is introduced to reduce the sliding mode chattering. The barrier function can guarantee the convergence of output variables and induce a decrease in gain proportionate to the output variables. Finally, the numerical simulation results demonstrate the efficacy and exceptional performance of the proposed schemes.

关键词： Autonomous aerial vehicles sliding mode control Convergence Three-dimensional displays Propellers Perturbation methods Trajectory integral terminal sliding mode control super-twisting algorithm barrier function quad-rotor UAV

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Tansig type NLESO-based integral terminal sliding mode control for modular robot manipulators with uncertain disturbance: Theory and experimental verification

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2024年第2期46卷 395-406页

作者： Dong, Bo Cao, Yuxin Cui, Yiming Wang, Tianhe An, Tianjiao Changchun Univ Technol Dept Control Sci & Engn Changchun 130012 Peoples R China

To overcome the mutual constraints between the system chattering and the arrival time in conventional sliding mode control in this paper, a tangent excitation function (tansig) type nonlinear extended state observer (NLESO)-based integral terminal sliding mode control is proposed to solve the trajectory tracking control task of the modular robot manipulators (MRMs) possessing strong coupling and complex time-varying properties. Through the joint torque feedback technology, the MRM system dynamic model is formulated;on this basis, the proposed NLESO based on tansig is utilized to estimate and compensate the system uncertain information, which are consisted of the friction, interconnected dynamic coupling, and external disturbance. The proposed NLESO can simplify the traditional extended state observer design parameters for theoretical analysis and practical application. The proposed tansig-type NLESO-based integral terminal sliding mode control integrated adaptive term exponential reaching law for MRMs is designed to diminish the arrival time when the system state converges to the equilibrium point. The presented algorithm improves the robotic system antidisturbance ability. Furthermore, the Lyapunov theory is utilized to verify stability of the proposed NLESO and closed-loop robotic system. Finally, the availability of the proposed algorithm is demonstrated by experiments.

关键词： modular robot manipulators model uncertainty nonlinear extended state observer integral terminal sliding mode control exponential reaching law

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Robust fractional-order integral terminal sliding mode control with adaptive uncertainty observation for a VCM-driven X-Y motion stage

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IET ELECTRIC POWER APPLICATIONS 2023年第2期17卷 161-180页

作者： Chen, Syuan-Yi Wu, Guan-Wei Yu, Cheng-Jui Natl Taiwan Normal Univ Dept Elect Engn 129He Ping E RdSec 1 Taipei 10610 Taiwan Teradyne Inc Hsinchu Taiwan

In this study, a fractional-order integral terminal sliding mode control (FITSMC) system is proposed to control a new voice coil motor (VCM)-driven X-Y motion stage with different thrust forces in the X-Y axes for the tracking of reference contours. First, the operation principle and dynamics of the stage are conducted based on the equivalent electrical circuit and magnetic analysis of the VCM. Subsequently, an integer-order integral terminal sliding mode control (ITSMC) approach is designed to control the stage for contour tracking in finite time. To enhance the positioning accuracy of the ITSMC, a novel FITSMC system is further proposed by bringing in a new fractional-order integral terminal sliding surface. However, the hitting control gain for the FITSMC is difficult to design because of the system uncertainties. To address this issue, an intelligent adaptive uncertainty observer (AUO) is proposed to directly observe the system uncertainties, thereby eliminating the need for hitting control term and attenuating the chattering phenomena of control force. Stability analysis of the proposed FITSMC and FITSMC-AUO systems is conducted on the basis of the Lyapunov stability theory. The experimental results demonstrate the effectiveness and superiority of the proposed control systems in comparison with the existing ITSMC system in the contour tracking tests.

关键词： contour tracking fractional-order control integral terminal sliding mode control voice coil motor X-Y motion stage

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Novel Super Twisting Observer Based integral terminal sliding mode control for MIMO Nonlinear Systems With Uncertainties 36

Novel Super Twisting Observer Based Integral Terminal Slidin...

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36th Chinese control and Decision Conference (CCDC)

作者： Meng, Xiangxiang Yu, Haisheng Zhang, Jie Yang, Qing Chen, Youyuan Cui, Peng Qingdao Univ Dept Sch Automat Qingdao Peoples R China

ISBN: (纸本)9798350387780;9798350387797

In this article, a novel super twisting observer (STO) based integral terminal sliding mode control (ITSMC) strategy is proposed to discuss the multi-input multi-output (MIMO) nonlinear systems with uncertainties. Firstly, the idea of proportion-integration-differentiation (PID) is introduced to design the integral-type terminal mode function. Secondly, the exponential reaching law is proposed to improve the convergence speed of sliding mode variables. The super twisting estimation algorithm is utilized to deal with the problem of model uncertainty and external disturbance of the system. Further, the ITSMCSTO strategy is constructed to improve the control performances which are tracking accuracy and anti-disturbance. Finally, the simulation results by the two-tank liquid level system as a typical process example is applied to confirm that the strategy proposed has good performances than the other methods.

关键词： integral terminal sliding mode control MIMO Nonlinear Systems Super Twisting Observer Uncertainties

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Neuro-adaptive fast integral terminal sliding mode control design with variable gain robust exact differentiator for under-actuated quadcopter UAV

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ISA TRANSACTIONS 2022年 120卷 293-304页

作者： Ullah, Safeer Khan, Qudrat Mehmood, Adeel Kirmani, Syed Abdul Mannan Mechali, Omar COMSATS Univ Dept Elect & Comp Engn Islamabad Pakistan COMSATS Univ Ctr Adv Studies Telecommun CAST Islamabad Pakistan Univ Elect Sci & Technol China Sch Aeronaut & Astronaut Chengdu 611731 Peoples R China

In this paper, a robust global fast terminal attractor based full flight trajectory tracking control law has been developed for the available regular form which is operated under matched uncertainties. Based on the hierarchical control principle, the aforesaid model is first subdivided into two subsystems, i.e., a fully-actuated subsystem and an under-actuated subsystem. In other words, the under-actuated subsystem is further transformed into a regular form whereby the under-actuated characteristics are decoupled in terms of control inputs. In the proposed design, the nonlinear drift terms, which certainly varies in full flight, are estimated via functional link neural networks to improve the performance of the controller in full flight. Besides, a variable gain robust exact differentiator (VGRED) is designed to provide us with estimated flight velocities. It has consequently reduced the noise in system's velocities and has mapped this controller as a practical one. The finite-time sliding mode enforcement and the states' convergence are shown, for all flight loops, i.e., forward flight and backward flight, via the Lyapunov approach. All these claims are verified via numerical simulations and experimental implementation of the quadcopter system in a Matlab environment. For a more impressive presentation, the developed simulation results are compared with standard literature. (c) 2021 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Quadcopter Under-actuated system Regular form Neural network Robust differentiator integral terminal sliding mode control

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Combined simple adaptive and integral terminal sliding mode control for industrial feed drive systems

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control ENGINEERING PRACTICE 2024年 153卷

作者： Nyobuya, Haryson Johanes Uchiyama, Naoki Toyohashi Univ Technol Dept Mech Engn Toyohashi 4418580 Japan Univ Dar es Salaam Coll Engn & Technol Dept Mech & Ind Engn POB 35131 Dar Es Salaam Tanzania

In the manufacturing industry, feed drive systems are utilized for various applications in industrial machines. These systems are crucial components for ensuring precision in motion control and are, therefore, expected to offer high tracking performance. This study focuses on application of integral terminal sliding mode control (ITSMC) to a feed drive system because of its robustness against disturbances and convergence of the tracking error in finite-time. However, its design requires plant dynamics model. To alleviate this concern, a solution of modifying the original ITSMC law to adaptive ITSMC law based on simple adaptive control (SAC) technique is used. To implement SAC-like adaptive law to a real plant, a property of "almost strictly positive real (ASPR)"is required to be satisfied. ASPR property is satisfied using velocity-based augmented output signal that ensures the stability. In experimental results, the adaptive controller follows the reference trajectory more precisely than conventional methods.

关键词： Feed drive system integral terminal sliding mode control Simple adaptive control Tracking error Augmented output signal Almost strictly positive real

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Adaptive integral terminal sliding mode control for the Nonlinear Active Vehicle Suspension System under External Disturbances and Uncertainties 10th

Adaptive Integral Terminal Sliding Mode Control for the Nonl...

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10th IFAC Triennial Conference on Manufacturing modelling, Management and control (MIM)

作者： Ghadiri, Hamid Montazeri, Allahyar Islamic Azad Univ Dept Elect Engn Qazvin Branch Qazvin Iran Univ Lancaster Engn Dept Lancaster LA1 4YW England

Suspension system is one of the most effective vehicle components that play an essential role in the stability and comfort of the vehicle. The passive suspension can not fully meet a car's stability and comfort requirements. Instead, an active suspension system has been proposed to improve these challenges. Active suspension minimizes the vibrations entering the body using a closed-loop control system. To this end, in this research, an integral terminal sliding mode control (integral TSMC) for an active nonlinear car suspension system under external disturbances and uncertainties is designed. First, the integral TSMC is designed to deal with the uncertainties and the external disturbances in the system when the upper bound is known. Next, an adaptation law is recommended to estimate the upper bound of uncertainties and external disturbances. The results show that the proposed integral TSMC improves the convergence rate and tracking error of the closed-loop system. The stability of the nonlinear control system is investigated and proven using Lyapunov's stability theory. The numerical results indicate a good robust performance and stability for the proposed controller for the nonlinear suspension system with different road profiles in the presence of uncertainties and external disturbances. From the results, it can also be understood that important measures such as ride comfort, road holding, and mechanical structural limitations are met using the proposed approach. Copyright (C) 2022 The Authors.

关键词： Suspension system External disturbances integral terminal sliding mode control Adaptive law

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An improved adaptive fractional-order fast integral terminal sliding mode control for distributed quadrotor

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MATHEMATICS AND COMPUTERS IN SIMULATION 2021年 188卷 120-134页

作者： Labbadi, Moussa El Moussaoui, Hassan Morocco Fdn Adv Sci Innovat & Res MAScIR BP 10100 Rabat Morocco

This paper presents a novel control approach for a quadrotor unnamed aerial vehicle (QUAV) in the presence of external disturbances. The QUAV system is difficult to control due to the coupling between its attitude and position, and its dynamics subjected to external disturbances. Therefore, an improved fractional-order fast integral terminal sliding mode control (IFOFITSMC) technique is proposed for the attitude/position of the QUAV in this work. The IFOFITSMC improves the robustness of the QUAV system against time-varying disturbances. The adopted fractional-order fast integral sliding mode surface ensures the finite time convergence and the dynamics of attitude and position follow the desired dynamics more quickly. Moreover, the disturbances that affect the QUAV position and attitude are tackled based on adaptive laws without requiring information about the upper bounds of its disturbances. Furthermore, the Lyapunov method is used to prove the stability and the superior tracking error performances of the QUAV in the presence of disturbances. Finally, numerical simulation is presented to show the efficacy of the IFOFITSMC proposed in this work. Also, some previous methods in the literature are used to compare the tracking performances of the proposed technique. (C) 2021 International Association for Mathematics and Computers in Simulation (IMACS). Published by Elsevier B.V. All rights reserved.

关键词： Quadrotor Lyapunov theorem Fractional-order integral terminal sliding mode control Adaptive laws Disturbances

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