Backstepping Sliding Mode Method Research Articles

A Novel Hybrid Optimization-based Backstepping Fractional Order Sliding Mode Proportional-integral-derivative Controller for Nonlinear Biological System

Nowadays, the role of the control system in the bioengineering field plays a major part due to its significant improvement and demand. Usually, if there are any changes in the parameter of a biological system, then it tends to cause crucial diseases in humans. Previously, various control algorithms have been developed; however, the proper control process failed due to the high error rate, slow convergence, Computational Complexity, Tuning Complexity and inaccurate function. The proposed control strategy should ensure accurate tracking of the desired trajectory or reference signal, even in the presence of uncertainties and disturbances. The control system should be capable of adapting to changes in the system dynamics and maintaining stable operation. This complexity can lead to high computational requirements, making the controller computationally expensive and potentially unsuitable for real-time applications or systems with limited computing resources. To overcome these issues, in this work, the novel Hybrid Ant Lion Moth Flame Optimization (HALMFO) based Backstepping Fractional-Order Sliding mode Proportional-Integral-Derivative (BFO-SPID) controller is proposed for different nonlinear biological systems. The proposed method enhances the efficiency, improved performance, robustness, convergence speed, and solution quality of the optimization process. This paper addresses the challenge of controlling nonlinear biological systems by proposing a novel hybrid optimization-based backstepping approach combined with a fractional order sliding mode proportional-integral-derivative (PID) controller. This work’s essential contribution lies in addressing existing control strategies’ limitations by integrating multiple control techniques to achieve robust tracking performance and disturbance rejection. This system proposes predictive control with state estimation based on the backstepping sliding mode method. The gain parameters of the developed controller are optimized using the HALMFO method. The proposed control approach performance has been tested under biological systems such as Protein, Pancreas, and Genetic Regulatory Network (GRN). The execution of this proposed model is done in MATLAB/Simulink. Furthermore, the performance of the proposed control technique is compared with various state-of-the-art methods in terms of accuracy, Mean Average Error (MAE), Mean Square Error (MSE), settling time, overshoot, and rise time. The comparison illustrates that the projected controller has reached a steady condition with the least error rate in the control application. Thus the developed controller regulates the parameter variations in the biological system as per the desired level, providing significant effective outcomes to complex problems.

Cooperative Formation Control for Multiple AUVs With Intermittent Underwater Acoustic Communication in IoUT

Autonomous Underwater Vehicle (AUV) system has played an important role in complex Internet of Underwater Things (IoUT). As we know, single AUV is inefficient in collecting data in large-scale IoUT. In order to improve the timeliness of data, this paper uses multiple AUVs with specific formation shape to collect sensory data. However, the intermittent and unreliable characteristics of underwater acoustic communication between AUVs seriously affects the performance of formation control. To solve this issue, this paper mainly investigates formation control problem of leader-follower structured AUVs with state prediction estimation under the condition of unreliable underwater acoustic channel. Firstly, a novel formation control law derived from backstepping sliding mode method is proposed, and then a suitable Lyapunov functional is constructed to prove sufficient stability conditions. Secondly, Gaussian prediction model considering time delay and packet dropout has been designed to estimate the intermittent communication channel. Moreover, a new metric named formation uniform degree (FUD) is proposed to measure the degree of queue uniformity in a quantitative manner. Finally, extensive simulation results compared with traditional methods based on ideal channel model demonstrate the effectiveness of proposed formation control method.

Backstepping Sliding Mode Method for Attitude Stabilization Control of Small Satellites

To address the problem that the attitude of a rigid satellite in orbit is susceptible to external disturbing moments, a control method based on the backstepping sliding mode method is proposed, which has strong robustness and anti-disturbance capability. Firstly, the coupling term in the mathematical model of satellite attitude is eliminated by using the backstepping method, secondly, the sliding mode control law is designed to reduce the sensitivity of the system to the external disturbance moment change and accelerate the response speed of the system, and the stability of the system is proved by using Lyapunov stability theory. Finally, the effectiveness and superiority of the rigid satellite attitude control based on the backstepping sliding mode method are verified by simulation.

Line-of-sight-based global finite-time stable path following control of unmanned surface vehicles with actuator saturation

This paper focuses on the path following problem of unmanned surface vehicles (USVs) with unknown velocities, model uncertainties, and actuator saturation. To steer a USV rapidly and accurately follow the desired parameterized path, a line-of-sight (LOS)-based finite-time path following scheme is constructed in which the finite-time technique can ensure the fast error convergence, such that some intelligent operations, including patrolling, fuel supplying, and formation control, can be promptly performed. First, USV kinematic and kinetic models are established, and finite-time observers are subsequently employed to identify the unmeasured USV velocities and model uncertainties. Then, an LOS guidance law is designed to achieve the finite-time convergence of the position errors. In addition, an optimized look-ahead distance is developed using a fuzzy algorithm. Meanwhile, the control subsystem is designed at the kinetic level by combining the backstepping sliding mode method and a novel auxiliary dynamic system, where the auxiliary system is applied to address actuator saturation. Subsequently, theoretical analysis is conducted to verify that the entire system is uniformly global finite-time stable (UGFTS). Finally, the simulation studies confirms the availability of the developed method.

四旋翼无人机飞行姿态的自适应反演滑模控制

To overcome nonlinear and 6-DOF (degrees of freedom) under-actuated problems for the attitude and position of quadrotor UAVs, an adaptive backstepping sliding mode method for flight attitude of quadrotor UAVs is proposed, in which an adaptive law is designed to online estimate the parameter variations and the upper bound of external disturbances and the assessments is utilized to compensate the backstepping sliding mode control. In addition, the tracking error of the design method is shown to asymptotically converge to zero by using Lyapunov theory. Finally, based on the numerical simulation of quadrotor UAVs using the setting parameters, the results show that the proposed control approach can stabilize the attitude and has hover flight capabilities under the parameter perturbations and external disturbances.

Backstepping sliding mode lane keeping control of lateral position error with dynamic of tire steering device

Abstract A kind of backstepping sliding mode control law was proposed to solve the lane keeping problem where the automatic driving system was simplified to be a kind of linear lateral dynamic model. And the dynamic response characteristic of tire steering system was described to be a first order system with a proper delay time constant. First, the complex system was divided into a relative accurate subsystem and an uncertain subsystem. Second, the proposed backstepping sliding mode method was proposed to eliminate the lateral position error which can make use of the advantage of sliding mode method that it can improve the robustness of the whole system. The backstepping strategy was adopted for the accurate inertial delay dynamic of tire steering system. Third, a kind of soft function was used to reduce the oscillation caused by sliding mode control. And a Lyapunov function was constructed to guarantee all signals of close loop system are stable. At last, 100 times of random numerical simulations were done to testify the rightness and stability of the proposed method applied in the situation that the tire coefficients are uncertain.

Chaotic attitude analysis of a satellite via Lyapunov exponents and its robust nonlinear control subject to disturbances and uncertainties

This article investigates chaotic attitude maneuvers in a satellite for a range of parameters via Lyapunov exponents (LEs) and designs an appropriate robust nonlinear controller to ensure chaos suppression and achieve desired performance. Since the dynamic equations of satellite are described as a nonlinear non-autonomous system, an improved technique for calculating the LEs of such systems as a measure of chaos phenomenon is presented. Using the proposed algorithm, the chaotic behavior of satellite is proved within a range of its parameters. Then, by converting dynamic equations to canonical form, a robust nonlinear control is proposed using back-stepping sliding mode method. The stability of closed-loop system and its robustness against disturbances and uncertainties are guaranteed by proving a theorem. Moreover, by converting the system description into a compatible form with the conditions of the Melnikov theorem, an analytical approach is presented to ensure chaos suppression in the controlled system. Finally, the simulation results for different operational conditions of a three-axis stabilized satellite are provided to show the effectiveness of the proposed analyses and syntheses.

Integrated guidance and control based on block backstepping sliding mode and dynamic control allocation

A novel integrated guidance and control (IGC) design method based on the block backstepping sliding mode and extended state observer is proposed for the near space interceptor (NSI) with aerodynamic fins and reaction jets. Initially, the IGC model is employed by combining the interceptor-target relative motion model with the nonlinear dynamic of the NSI. Subsequently, the ESO is constructed to estimate the target acceleration and autopilot loop disturbance. Based on the estimated value and block backstepping sliding mode method, the IGC algorithm is given to obtain the virtual control moment. The stability of the closed-loop IGC system is also proven based on the Lyapunov theory. Moreover, a new dynamic control allocation algorithm is proposed to distribute the previously virtual control moment among the redundant actuators, while the actuator saturation and rate constraints are also taken into account. Finally, simulation results demonstrate that the proposed IGC algorithm can not only obtain a small miss distance, but also ensure the stability of the NSI dynamic.