Nonsingular fast terminal sliding-mode control for nonlinear dynamical systems
This paper investigates fast finite‐time control of nonlinear dynamics using terminal sliding‐mode (TSM) scheme. Some new norms of fast TSM strategies are proposed, and a faster convergence rate is established in comparison with the conventional fast TSM. A novel concept of nonsingular fast TSM, whi...
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| Published in | International journal of robust and nonlinear control Vol. 21; no. 16; pp. 1865 - 1879 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Chichester, UK
John Wiley & Sons, Ltd
10.11.2011
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| Subjects | |
| Online Access | Get full text |
| ISSN | 1049-8923 1099-1239 1099-1239 |
| DOI | 10.1002/rnc.1666 |
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| Abstract | This paper investigates fast finite‐time control of nonlinear dynamics using terminal sliding‐mode (TSM) scheme. Some new norms of fast TSM strategies are proposed, and a faster convergence rate is established in comparison with the conventional fast TSM. A novel concept of nonsingular fast TSM, which is able to avoid the possible singularity during the control phase, is adopted in the robust high‐precision control of uncertain nonlinear systems. Numerical simulation on a two‐link rigid robot manipulator demonstrates the effectiveness of the proposed algorithm. Copyright © 2010 John Wiley & Sons, Ltd. |
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| AbstractList | This paper investigates fast finite‐time control of nonlinear dynamics using terminal sliding‐mode (TSM) scheme. Some new norms of fast TSM strategies are proposed, and a faster convergence rate is established in comparison with the conventional fast TSM. A novel concept of nonsingular fast TSM, which is able to avoid the possible singularity during the control phase, is adopted in the robust high‐precision control of uncertain nonlinear systems. Numerical simulation on a two‐link rigid robot manipulator demonstrates the effectiveness of the proposed algorithm. Copyright © 2010 John Wiley & Sons, Ltd. This paper investigates fast finite-time control of nonlinear dynamics using terminal sliding-mode (TSM) scheme. Some new norms of fast TSM strategies are proposed, and a faster convergence rate is established in comparison with the conventional fast TSM. A novel concept of nonsingular fast TSM, which is able to avoid the possible singularity during the control phase, is adopted in the robust high-precision control of uncertain nonlinear systems. Numerical simulation on a two-link rigid robot manipulator demonstrates the effectiveness of the proposed algorithm. |
| Author | Yang, Liang Yang, Jianying |
| Author_xml | – sequence: 1 givenname: Liang surname: Yang fullname: Yang, Liang organization: The State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering, College of Engineering, Peking University, Beijing 100871, People's Republic of China – sequence: 2 givenname: Jianying surname: Yang fullname: Yang, Jianying email: jyyangpku@gmail.com organization: The State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering, College of Engineering, Peking University, Beijing 100871, People's Republic of China |
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| Cites_doi | 10.23919/ACC.1992.4792209 10.1109/TAC.2006.886515 10.1049/PBCE066E 10.1111/j.1934-6093.2003.tb00168.x 10.1016/j.cnsns.2008.08.013 10.1109/TAC.1977.1101446 10.1016/j.automatica.2005.07.001 10.1201/9781498701822 10.1109/TIE.2009.2024097 10.1016/S0167-6911(98)00036-X 10.1109/81.641769 10.1109/41.184820 10.1109/81.983876 10.1002/(SICI)1099-1239(199909)9:11<769::AID-RNC435>3.0.CO;2-M 10.1016/S0005-1098(02)00147-4 10.3182/20080706-5-KR-1001.01673 10.1109/9.362847 10.1080/00207179608921680 10.1109/TIE.2009.2027531 10.1109/CDC.1985.268832 |
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| References_xml | – reference: Feng Y, Zheng X, Yu X. Second-order nonsingular terminal sliding mode decomposed control of uncertain multivariable systems. Asian Journal of Control 2003; 5(4):505-512. – reference: Edwards C, Spurgeon SK. Sliding Mode Control: Theory and Application. Taylor and Francis: London, England, 1998. – reference: Yu X, Man Z. Fast terminal sliding-mode control design for nonlinear dynamical systems. IEEE Transactions on Circuits and Systems I 2002; 49(2):261-264. – reference: Sabanovic A, Fridman L, Spurgeon SK. Variable Structure Systems: from Principles to Implementation. The Institution of Engineering and Technology: London, U.K., 2004. – reference: Nemitskii VV, Stepanov VV. Qualitative Theory of Differential Equations. Princeton University Press: Princeton, NJ, 1960. – reference: Wu YQ, Yu X, Man Z. Terminal sliding mode control design for uncertain dynamic systems. Systems and Control Letters 1998; 34(5):281-288. – reference: Wang H, Han ZZ, Xie QY et al. Finite-time chaos control via nonsingular terminal sliding mode control. Communications in Nonlinear Science and Numerical Simulation 2009; 14:2728-2733. – reference: Utkin VI. Variable structure systems with sliding modes. IEEE Transactions on Automatic Control 1977; 22(2):212-222. – reference: Man Z, Yu X. Terminal sliding mode control of MIMO linear systems. IEEE Transactions on Circuits and Systems I 1997; 44(11):1065-1070. – reference: Feng Y, Yu X, Man Z. Non-singular adaptive terminal sliding mode control of rigid manipulators. Automatica 2002; 38(12):2159-2167. – reference: Man Z, Paplinski AP, Wu HR. A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators. IEEE Transactions on Automatic Control 1994; 39:2464-2469. – reference: Beckenbach E, Bellman R. Inequalities. Springer: Berlin, Germany, 1971. – reference: Gao W, Hung JC. Variable structure control of nonlinear systems: a new approach. IEEE Transactions on Industrial Electronics 1993; 40(1):45-55. – reference: Yu S, Yu X, Shirinzadeh B, Man Z. Continuous finite-time control for robotic manipulators with terminal sliding mode. Automatica 2005; 41(11):1957-1964. – reference: Jin M, Lee J, Hun Chang P, Choi C. Practical nonsingular terminal sliding-mode control of robot manipulators for high-accuracy tracking control. IEEE Transactions on Industrial Electronics 2009; 56(9):3593-3601. – reference: Arnold VI. Ordinary Differential Equations. MIT Press: Cambridge, MA, 1978. – reference: Yu X, Kaynak O. Sliding-mode control with soft computing: a survey. IEEE Transactions on Industrial Electronics 2009; 56(9):3275-3285. – reference: Park KB, Tsuiji T. Terminal sliding mode control of second-order nonlinear uncertain systems. International Journal of Robust and Nonlinear Control 1999; 9(11):769-780. – reference: Yu X, Man Z. Model reference adaptive control systems with terminal sliding modes. International Journal of Control 1996; 66(6):1165-1176. – reference: Abramowitz M, Stegun IA. Handbook of Mathematical Functions: with Formulas, Graphs, and Mathematical Tables. Dover: New York, U.S.A., 1972. – reference: Hong Y, Jiang Z. Finite-time stabilization of nonlinear systems with parametric and dynamic uncertainties. IEEE Transactions on Automatic Control 2006; 51(12):1950-1956. – year: 1960 – volume: 40 start-page: 45 issue: 1 year: 1993 end-page: 55 article-title: Variable structure control of nonlinear systems: a new approach publication-title: IEEE Transactions on Industrial Electronics – volume: 22 start-page: 212 issue: 2 year: 1977 end-page: 222 article-title: Variable structure systems with sliding modes publication-title: IEEE Transactions on Automatic Control – volume: 51 start-page: 1950 issue: 12 year: 2006 end-page: 1956 article-title: Finite‐time stabilization of nonlinear systems with parametric and dynamic uncertainties publication-title: IEEE Transactions on Automatic Control – volume: 9 start-page: 769 issue: 11 year: 1999 end-page: 780 article-title: Terminal sliding mode control of second‐order nonlinear uncertain systems publication-title: International Journal of Robust and Nonlinear Control – volume: 66 start-page: 1165 issue: 6 year: 1996 end-page: 1176 article-title: Model reference adaptive control systems with terminal sliding modes publication-title: International Journal of Control – start-page: 26 year: 1994 end-page: 267 – volume: 44 start-page: 1065 issue: 11 year: 1997 end-page: 1070 article-title: Terminal sliding mode control of MIMO linear systems publication-title: IEEE Transactions on Circuits and Systems I – start-page: 891 end-page: 893 – year: 1971 – volume: 41 start-page: 1957 issue: 11 year: 2005 end-page: 1964 article-title: Continuous finite‐time control for robotic manipulators with terminal sliding mode publication-title: Automatica – volume: 56 start-page: 3275 issue: 9 year: 2009 end-page: 3285 article-title: Sliding‐mode control with soft computing: a survey publication-title: IEEE Transactions on Industrial Electronics – volume: 56 start-page: 3593 issue: 9 year: 2009 end-page: 3601 article-title: Practical nonsingular terminal sliding‐mode control of robot manipulators for high‐accuracy tracking control publication-title: IEEE Transactions on Industrial Electronics – year: 1998 – volume: 38 start-page: 2159 issue: 12 year: 2002 end-page: 2167 article-title: Non‐singular adaptive terminal sliding mode control of rigid manipulators publication-title: Automatica – volume: 14 start-page: 2728 year: 2009 end-page: 2733 article-title: Finite‐time chaos control via nonsingular terminal sliding mode control publication-title: Communications in Nonlinear Science and Numerical Simulation – volume: 34 start-page: 281 issue: 5 year: 1998 end-page: 288 article-title: Terminal sliding mode control design for uncertain dynamic systems publication-title: Systems and Control Letters – volume: 5 start-page: 505 issue: 4 year: 2003 end-page: 512 article-title: Second‐order nonsingular terminal sliding mode decomposed control of uncertain multivariable systems publication-title: Asian Journal of Control – year: 2004 – volume: 49 start-page: 261 issue: 2 year: 2002 end-page: 264 article-title: Fast terminal sliding‐mode control design for nonlinear dynamical systems publication-title: IEEE Transactions on Circuits and Systems I – year: 1972 – start-page: 1729 end-page: 1733 – volume: 39 start-page: 2464 year: 1994 end-page: 2469 article-title: A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators publication-title: IEEE Transactions on Automatic Control – year: 1978 – start-page: 9888 end-page: 9893 – ident: e_1_2_7_8_2 doi: 10.23919/ACC.1992.4792209 – volume-title: Qualitative Theory of Differential Equations year: 1960 ident: e_1_2_7_24_2 – ident: e_1_2_7_27_2 doi: 10.1109/TAC.2006.886515 – ident: e_1_2_7_6_2 doi: 10.1049/PBCE066E – ident: e_1_2_7_18_2 – ident: e_1_2_7_19_2 doi: 10.1111/j.1934-6093.2003.tb00168.x – ident: e_1_2_7_21_2 doi: 10.1016/j.cnsns.2008.08.013 – ident: e_1_2_7_2_2 doi: 10.1109/TAC.1977.1101446 – ident: e_1_2_7_20_2 doi: 10.1016/j.automatica.2005.07.001 – ident: e_1_2_7_5_2 doi: 10.1201/9781498701822 – ident: e_1_2_7_22_2 doi: 10.1109/TIE.2009.2024097 – ident: e_1_2_7_16_2 doi: 10.1016/S0167-6911(98)00036-X – volume-title: Inequalities year: 1971 ident: e_1_2_7_26_2 – ident: e_1_2_7_13_2 doi: 10.1109/81.641769 – ident: e_1_2_7_3_2 doi: 10.1109/41.184820 – start-page: 26 volume-title: Complex Systems: Mechanism of Adaptation year: 1994 ident: e_1_2_7_10_2 – ident: e_1_2_7_15_2 doi: 10.1109/81.983876 – ident: e_1_2_7_14_2 – ident: e_1_2_7_11_2 doi: 10.1002/(SICI)1099-1239(199909)9:11<769::AID-RNC435>3.0.CO;2-M – ident: e_1_2_7_17_2 doi: 10.1016/S0005-1098(02)00147-4 – ident: e_1_2_7_23_2 doi: 10.3182/20080706-5-KR-1001.01673 – volume-title: Handbook of Mathematical Functions: with Formulas, Graphs, and Mathematical Tables year: 1972 ident: e_1_2_7_25_2 – ident: e_1_2_7_9_2 doi: 10.1109/9.362847 – ident: e_1_2_7_12_2 doi: 10.1080/00207179608921680 – volume-title: Ordinary Differential Equations year: 1978 ident: e_1_2_7_28_2 – ident: e_1_2_7_4_2 doi: 10.1109/TIE.2009.2027531 – ident: e_1_2_7_7_2 doi: 10.1109/CDC.1985.268832 |
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| Snippet | This paper investigates fast finite‐time control of nonlinear dynamics using terminal sliding‐mode (TSM) scheme. Some new norms of fast TSM strategies are... This paper investigates fast finite-time control of nonlinear dynamics using terminal sliding-mode (TSM) scheme. Some new norms of fast TSM strategies are... |
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| StartPage | 1865 |
| SubjectTerms | Control systems Convergence Dynamical systems fast convergence rate Lyapunov stability Nonlinear dynamics nonlinear systems Nonlinearity Robots singularity Strategy terminal sliding mode Terminals |
| Title | Nonsingular fast terminal sliding-mode control for nonlinear dynamical systems |
| URI | https://api.istex.fr/ark:/67375/WNG-6VNKSGR9-C/fulltext.pdf https://onlinelibrary.wiley.com/doi/abs/10.1002%2Frnc.1666 https://www.proquest.com/docview/1031286696 |
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