This paper introduces a fast fixed-time non-singular terminal sliding mode control approach, utilizing a sliding mode observer, to tackle the tracking challenge in teleoperation systems. A robust fixed-time control la...
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ISBN:
(数字)9798331542726
ISBN:
(纸本)9798331542733
This paper introduces a fast fixed-time non-singular terminal sliding mode control approach, utilizing a sliding mode observer, to tackle the tracking challenge in teleoperation systems. A robust fixed-time control law is formulated to achieve accurate tracking performance, effectively countering parametric uncertainties, external disturbances, and time-varying delays. Furthermore, the proposed fast fixed-time non-singular terminal sliding surface ensures convergence within a fixed time frame once the sliding condition is satisfied. To improve practical implementation, a sliding mode observer is integrated, removing the necessity for a velocity sensor. The system's stability is demonstrated through Lyapunov theory.
In this paper, it is applied a method for parameter estimation of ship linear maneuvering models with a standard zig-zag maneuver. The parameter estimation is made based on prediction error methods, using the Kalman f...
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In this paper, it is applied a method for parameter estimation of ship linear maneuvering models with a standard zig-zag maneuver. The parameter estimation is made based on prediction error methods, using the Kalman filter for the states estimation. It is suggested two cases of study: one in simulation and another one with data acquired in open waters. Thus, it is posible to quantify the statistical properties of the estimator by means of Monte Carlo simulation and to validate the model with simulated and acquired data.
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