Design of a non-singular fast terminal sliding mode control for second-order nonlinear systems with compound disturbance
This paper investigates a new disturbance observer based non-singular fast terminal sliding mode control technique for the path tracking and stabilization of non-linear second-order systems with compound disturbance. The compound disturbance is comprised of both parametric and non-parametric uncerta...
Gespeichert in:
| Veröffentlicht in: | Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science Journal of mechanical engineering science, 2021-12, Vol.235 (24), p.7343-7352 |
|---|---|
| Hauptverfasser: | , , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 7352 |
|---|---|
| container_issue | 24 |
| container_start_page | 7343 |
| container_title | Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science |
| container_volume | 235 |
| creator | Salehi Kolahi, Mohammad Reza Gharib, Mohammad Reza Heydari, Ali |
| description | This paper investigates a new disturbance observer based non-singular fast terminal sliding mode control technique for the path tracking and stabilization of non-linear second-order systems with compound disturbance. The compound disturbance is comprised of both parametric and non-parametric uncertainties. While warranting fast convergence rate and robustness, it also dominates the singularity and complex-value number issues associated with conventional terminal sliding mode control. Furthermore, due to the estimation properties of the observer, knowledge about the bounds of the uncertainties is not required. The simulation results of two case studies, the velocity and path tracking of an autonomous underwater vehicle and the stabilization of a chaotic Φ6-Duffing oscillator, validate the efficacy of the proposed method. |
| doi_str_mv | 10.1177/09544062211032990 |
| format | Article |
| fullrecord | <record><control><sourceid>proquest_cross</sourceid><recordid>TN_cdi_proquest_journals_2607262919</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sage_id>10.1177_09544062211032990</sage_id><sourcerecordid>2607262919</sourcerecordid><originalsourceid>FETCH-LOGICAL-c312t-76ff59198f64dac5e5b629f21abe0890db50ec3eb977893b88fc14ab99fc73523</originalsourceid><addsrcrecordid>eNp1kEtLBDEQhIMouK7-AG8Bz6NJ5pmjrE9Y8KLnITPprFlmkjWdQfffm2EFD2JfmqaqPugi5JKza87r-obJsihYJQTnLBdSsiOyEKzgmZBNfkwWs57NhlNyhrhlaURVLsjXHaDdOOoNVdR5l6F1m2lQgRqFkUYIo3VqoDhYnRQ6eg209y4GP1DjA0VIl8580BBmwGAdpDTuMcKI9NPG9-Qfd35ymmqLcQqdcj2ckxOjBoSLn70kbw_3r6unbP3y-Ly6XWd9zkXM6sqYUnLZmKrQqi-h7CohjeCqA9ZIpruSQZ9DJ-u6kXnXNKbnheqkNH2dlyJfkqsDdxf8xwQY262fQnoJW1GxWiQal8nFD64-eMQApt0FO6qwbzlr54LbPwWnzPUhg2oDv9T_A992CHzm</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>2607262919</pqid></control><display><type>article</type><title>Design of a non-singular fast terminal sliding mode control for second-order nonlinear systems with compound disturbance</title><source>Sage Journals</source><creator>Salehi Kolahi, Mohammad Reza ; Gharib, Mohammad Reza ; Heydari, Ali</creator><creatorcontrib>Salehi Kolahi, Mohammad Reza ; Gharib, Mohammad Reza ; Heydari, Ali</creatorcontrib><description>This paper investigates a new disturbance observer based non-singular fast terminal sliding mode control technique for the path tracking and stabilization of non-linear second-order systems with compound disturbance. The compound disturbance is comprised of both parametric and non-parametric uncertainties. While warranting fast convergence rate and robustness, it also dominates the singularity and complex-value number issues associated with conventional terminal sliding mode control. Furthermore, due to the estimation properties of the observer, knowledge about the bounds of the uncertainties is not required. The simulation results of two case studies, the velocity and path tracking of an autonomous underwater vehicle and the stabilization of a chaotic Φ6-Duffing oscillator, validate the efficacy of the proposed method.</description><identifier>ISSN: 0954-4062</identifier><identifier>EISSN: 2041-2983</identifier><identifier>DOI: 10.1177/09544062211032990</identifier><language>eng</language><publisher>London, England: SAGE Publications</publisher><subject>Autonomous underwater vehicles ; Disturbance observers ; Duffing oscillators ; Nonlinear control ; Nonlinear systems ; Path tracking ; Sliding mode control ; Stabilization ; Uncertainty</subject><ispartof>Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science, 2021-12, Vol.235 (24), p.7343-7352</ispartof><rights>IMechE 2021</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c312t-76ff59198f64dac5e5b629f21abe0890db50ec3eb977893b88fc14ab99fc73523</citedby><cites>FETCH-LOGICAL-c312t-76ff59198f64dac5e5b629f21abe0890db50ec3eb977893b88fc14ab99fc73523</cites><orcidid>0000-0002-0151-7541</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://journals.sagepub.com/doi/pdf/10.1177/09544062211032990$$EPDF$$P50$$Gsage$$H</linktopdf><linktohtml>$$Uhttps://journals.sagepub.com/doi/10.1177/09544062211032990$$EHTML$$P50$$Gsage$$H</linktohtml><link.rule.ids>314,780,784,21819,27924,27925,43621,43622</link.rule.ids></links><search><creatorcontrib>Salehi Kolahi, Mohammad Reza</creatorcontrib><creatorcontrib>Gharib, Mohammad Reza</creatorcontrib><creatorcontrib>Heydari, Ali</creatorcontrib><title>Design of a non-singular fast terminal sliding mode control for second-order nonlinear systems with compound disturbance</title><title>Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science</title><description>This paper investigates a new disturbance observer based non-singular fast terminal sliding mode control technique for the path tracking and stabilization of non-linear second-order systems with compound disturbance. The compound disturbance is comprised of both parametric and non-parametric uncertainties. While warranting fast convergence rate and robustness, it also dominates the singularity and complex-value number issues associated with conventional terminal sliding mode control. Furthermore, due to the estimation properties of the observer, knowledge about the bounds of the uncertainties is not required. The simulation results of two case studies, the velocity and path tracking of an autonomous underwater vehicle and the stabilization of a chaotic Φ6-Duffing oscillator, validate the efficacy of the proposed method.</description><subject>Autonomous underwater vehicles</subject><subject>Disturbance observers</subject><subject>Duffing oscillators</subject><subject>Nonlinear control</subject><subject>Nonlinear systems</subject><subject>Path tracking</subject><subject>Sliding mode control</subject><subject>Stabilization</subject><subject>Uncertainty</subject><issn>0954-4062</issn><issn>2041-2983</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2021</creationdate><recordtype>article</recordtype><recordid>eNp1kEtLBDEQhIMouK7-AG8Bz6NJ5pmjrE9Y8KLnITPprFlmkjWdQfffm2EFD2JfmqaqPugi5JKza87r-obJsihYJQTnLBdSsiOyEKzgmZBNfkwWs57NhlNyhrhlaURVLsjXHaDdOOoNVdR5l6F1m2lQgRqFkUYIo3VqoDhYnRQ6eg209y4GP1DjA0VIl8580BBmwGAdpDTuMcKI9NPG9-Qfd35ymmqLcQqdcj2ckxOjBoSLn70kbw_3r6unbP3y-Ly6XWd9zkXM6sqYUnLZmKrQqi-h7CohjeCqA9ZIpruSQZ9DJ-u6kXnXNKbnheqkNH2dlyJfkqsDdxf8xwQY262fQnoJW1GxWiQal8nFD64-eMQApt0FO6qwbzlr54LbPwWnzPUhg2oDv9T_A992CHzm</recordid><startdate>202112</startdate><enddate>202112</enddate><creator>Salehi Kolahi, Mohammad Reza</creator><creator>Gharib, Mohammad Reza</creator><creator>Heydari, Ali</creator><general>SAGE Publications</general><general>SAGE PUBLICATIONS, INC</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7TB</scope><scope>8FD</scope><scope>F28</scope><scope>FR3</scope><orcidid>https://orcid.org/0000-0002-0151-7541</orcidid></search><sort><creationdate>202112</creationdate><title>Design of a non-singular fast terminal sliding mode control for second-order nonlinear systems with compound disturbance</title><author>Salehi Kolahi, Mohammad Reza ; Gharib, Mohammad Reza ; Heydari, Ali</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c312t-76ff59198f64dac5e5b629f21abe0890db50ec3eb977893b88fc14ab99fc73523</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2021</creationdate><topic>Autonomous underwater vehicles</topic><topic>Disturbance observers</topic><topic>Duffing oscillators</topic><topic>Nonlinear control</topic><topic>Nonlinear systems</topic><topic>Path tracking</topic><topic>Sliding mode control</topic><topic>Stabilization</topic><topic>Uncertainty</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Salehi Kolahi, Mohammad Reza</creatorcontrib><creatorcontrib>Gharib, Mohammad Reza</creatorcontrib><creatorcontrib>Heydari, Ali</creatorcontrib><collection>CrossRef</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><jtitle>Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Salehi Kolahi, Mohammad Reza</au><au>Gharib, Mohammad Reza</au><au>Heydari, Ali</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Design of a non-singular fast terminal sliding mode control for second-order nonlinear systems with compound disturbance</atitle><jtitle>Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science</jtitle><date>2021-12</date><risdate>2021</risdate><volume>235</volume><issue>24</issue><spage>7343</spage><epage>7352</epage><pages>7343-7352</pages><issn>0954-4062</issn><eissn>2041-2983</eissn><abstract>This paper investigates a new disturbance observer based non-singular fast terminal sliding mode control technique for the path tracking and stabilization of non-linear second-order systems with compound disturbance. The compound disturbance is comprised of both parametric and non-parametric uncertainties. While warranting fast convergence rate and robustness, it also dominates the singularity and complex-value number issues associated with conventional terminal sliding mode control. Furthermore, due to the estimation properties of the observer, knowledge about the bounds of the uncertainties is not required. The simulation results of two case studies, the velocity and path tracking of an autonomous underwater vehicle and the stabilization of a chaotic Φ6-Duffing oscillator, validate the efficacy of the proposed method.</abstract><cop>London, England</cop><pub>SAGE Publications</pub><doi>10.1177/09544062211032990</doi><tpages>10</tpages><orcidid>https://orcid.org/0000-0002-0151-7541</orcidid></addata></record> |
| fulltext | fulltext |
| identifier | ISSN: 0954-4062 |
| ispartof | Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science, 2021-12, Vol.235 (24), p.7343-7352 |
| issn | 0954-4062 2041-2983 |
| language | eng |
| recordid | cdi_proquest_journals_2607262919 |
| source | Sage Journals |
| subjects | Autonomous underwater vehicles Disturbance observers Duffing oscillators Nonlinear control Nonlinear systems Path tracking Sliding mode control Stabilization Uncertainty |
| title | Design of a non-singular fast terminal sliding mode control for second-order nonlinear systems with compound disturbance |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-20T21%3A24%3A17IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_cross&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Design%20of%20a%20non-singular%20fast%20terminal%20sliding%20mode%20control%20for%20second-order%20nonlinear%20systems%20with%20compound%20disturbance&rft.jtitle=Proceedings%20of%20the%20Institution%20of%20Mechanical%20Engineers.%20Part%20C,%20Journal%20of%20mechanical%20engineering%20science&rft.au=Salehi%20Kolahi,%20Mohammad%20Reza&rft.date=2021-12&rft.volume=235&rft.issue=24&rft.spage=7343&rft.epage=7352&rft.pages=7343-7352&rft.issn=0954-4062&rft.eissn=2041-2983&rft_id=info:doi/10.1177/09544062211032990&rft_dat=%3Cproquest_cross%3E2607262919%3C/proquest_cross%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=2607262919&rft_id=info:pmid/&rft_sage_id=10.1177_09544062211032990&rfr_iscdi=true |