Recursive Sliding Mode Control Research Articles

Robust GDI-based adaptive recursive sliding mode control (RGDI-ARSMC) for a highly nonlinear MIMO system with varying dynamics of UAV

Robust GDI-based adaptive recursive sliding mode control (RGDI-ARSMC) for a highly nonlinear MIMO system with varying dynamics of UAV

Adaptive Recursive Sliding Mode Control (ARSMC)-Based UAV Control for Future Smart Cities

The rapid expansion of the Internet and communication technologies is leading to significant changes in both society and the economy. This development is driving the evolution of smart cities, which utilize cutting-edge technologies and data analysis to optimize efficiency and reduce waste in their infrastructure and services. As the number of mobile devices and embedded computers grows, new technologies, such as fifth-generation (5G) cellular broadband networks and the Internet of Things (IoT), are emerging to extend wireless network connectivity. These cities are often referred to as unmanned aerial vehicles (UAVs), highlighting their innovative approach to utilizing technology. To address the challenges posed by continuously varying perturbations, such as unknown states, gyroscopic disturbance torque, and parametric uncertainties, an adaptive recursive sliding mode control (ARSMC) has been developed. The high computational cost and high-order nonlinear behavior of UAVs make them difficult to control. The controller design is divided into two steps. First, a confined stability analysis is performed using controllability and observability to estimate the system’s stability calculation. Second, a Lyapunov-based controller design analysis is systematically tackled using a recursive design procedure. The strategy design aims to enhance robustness through Lyapunov stability-based mathematical analysis in the presence of considered perturbations. The ARSMC introduces new variables that depend on state variables, controlling parameters, and stabilizing functions to minimize unwanted signals and compensate for nonlinearities in the system. The paper’s significant contribution is to improve the controlled output’s rise time and stability time while ensuring efficient robustness.

Robust trajectory tracking control for a quadrotor using recursive sliding mode control and nonlinear extended state observer

The trajectory tracking performance of a quadrotor is affected by the load variations, wind gusts, inaccurate model parameters, etc. This study proposes a novel robust trajectory tracking controller for a quadrotor via a nonlinear extended state observer and recursive sliding mode control (NESO-RSMC). First, a novel NESO is applied to observe the lumped disturbance in quadrotor dynamics, and the parameter design of the NESO does not rely on the information of the unknown lumped disturbance. Subsequently, based on NESO, the RSMC scheme is constructed in detail, which reduces chattering and ensures a fast response. In addition, the finite-time convergence of tracking errors based on the NESO-RSMC scheme was rigorously proved. The numerical simulation results verify the robustness of the proposed NESO-RSMC scheme in the case of external disturbances and model parameter uncertainties. Ultimately, the NESO-RSMC scheme was implemented on a real quadrotor, and its effectiveness was further proven by outdoor flight experiments.

Robust adaptive recursive sliding mode attitude control for a quadrotor with unknown disturbances

Model uncertainties, unknown disturbances, and sensors measurement noises affect the attitude tracking control performance of quadrotors. In this article, a novel robust adaptive recursive sliding mode control (ARSMC) strategy is proposed for the quadrotor to improve the attitude tracking performance and disturbance rejection. Firstly, recursive sliding mode control is introduced, including a two-layer sliding surface, an integral sliding surface, and a fast nonsingular terminal sliding surface, which are recursive. Both sliding surfaces converge to zero in turn. And the initial value of the integral sliding surface is designed to eliminate the reaching phase. Besides, the adaptive gain adjustment method is presented to make an estimate of the unknown upper bound of disturbances. It is proved that the attitude control system has the finite-time convergence and the attitude tracking error will converge to zero. A quadrotor attitude test platform is built to evaluate the proposed algorithm. For comparison, twisting controller (TC), cascade PID, and active disturbance rejection control (ADRC) algorithms are introduced. Ultimately, the efficiency and feasibility of the proposed algorithm are verified by simulation and experimental results.

Recursive sliding mode control with adaptive disturbance observer for a linear motor positioner

The control performance of linear motor (LM) is deteriorated by payload variations, friction, and external disturbances. In this paper, a robust recursive sliding mode controller combined with an adaptive disturbance observer (RSM-ADO) is proposed for the high-speed and high-precision control of an LM positioner. The benefits of the proposed ADO lie in that it can be designed without the need for the upper bound information of the disturbance and its derivative. Hence, the ADO is ideally capable of rejecting any time-varying disturbances. Furthermore, a recursive integral sliding surface is constructed for the RSM controller such that the reaching phase is eliminated. Benefiting from the proposed recursive structure, the tracking error can converge to zero in finite time. Besides, system chattering is eliminated in the reaching control input due to the integral element. Lyapunov analysis is investigated to prove the finite time convergence of the tracking error under the proposed RSM-ADO control scheme. Experiments demonstrate the superior property of stronger robustness and fewer chattering effects of the proposed method compared to existing disturbance observers and adaptive recursive terminal sliding mode (ARTSM) controller.

Modelling and dynamic surface backstepping recursive sliding mode control for the speed and tension system of the reversible cold strip rolling mill

For the speed and tension system of the reversible cold strip rolling mill, a dynamic surface backstepping recursive sliding mode control (DSBRSMC) strategy is proposed based on the immersion and invariance (I&I) adaptive method and the nonlinear disturbance observer (NDO). First, a relatively complete mathematical model for the speed and tension system of the reversible cold strip rolling mill driven by alternating current (AC) asynchronous motors is established. Next, the I&I adaptive method is adopted to estimate the system perturbation parameters, and the NDO is developed to observe the system uncertainty. Again, controllers for the speed and tension system are presented by combining the backstepping control, the dynamic surface control, and the recursive sliding mode control together. Theoretical analysis shows that the closed-loop system is stable in the Lyapunov sense. Finally, simulation research is conducted by using the actual data, and results show the validity of the proposed control strategy.

Modelling and dynamic surface backstepping recursive sliding mode control for the speed and tension system of the reversible cold strip rolling mill

Modelling and dynamic surface backstepping recursive sliding mode control for the speed and tension system of the reversible cold strip rolling mill

MLP neural network-based recursive sliding mode dynamic surface control for trajectory tracking of fully actuated surface vessel subject to unknown dynamics and input saturation

In this work, we present a MLP neural network-based recursive sliding mode dynamic surface control scheme for a fully actuated surface vessel with uncertain dynamics and external disturbances, where the control input are required to be constrained. First of all, the minimum learning parameter (MLP) neural networks (NN)-based are designed to enhance the robustness against model uncertainties. Subsequently, an adaptive law is employed to compensate neural networks approximation errors and disturbances. The recursive sliding mode control method combined with dynamic surface control (DSC) is designed to eliminate repeated derivative of virtual control laws and enhance systems robustness. A smooth hyperbolic tangent function is incorporated with the control scheme to reduce the risk of actuator saturation. At the same time, the Nussbaum function is used to compensate for the saturation function and ensure the stability of system. We show that under the proposed control method, despite the presence of system uncertainties and disturbances, the tracking errors can converge into arbitrarily small neighborhoods around zero, while the constraint requirements on the control force and torque will not be violated. By using the Lyapunov function, it is proven that the proposed control method can guarantee the uniform boundedness of all the closed loop signals. Finally, simulation results further demonstrate the effectiveness of the proposed method.

Chattering-free full-order recursive sliding mode control for finite-time attitude synchronization of rigid spacecraft

This paper investigates a quaternion-based finite-time cooperative attitude synchronization and tracking of multiple rigid spacecraft with a virtual leader subject to bounded external disturbances. Firstly, the communication network between followers is assumed to be an undirected graph and every follower can get a direct access to the virtual leader, by using two neighborhood attitude error signals, a novel chattering-free recursive full-order sliding mode control algorithm is proposed such that all follower spacecraft synchronize to the virtual leader in finite time. In the proposed algorithm, the sliding mode surface is constructed by two layers of sliding mode surfaces, which are called as the outer and the inner sliding mode surfaces. To achieve finite-time performance of sliding mode dynamics, the outer sliding mode surface is designed as a terminal sliding mode manifold, and the inner one is designed as a fast nonsingular terminal sliding mode manifold, respectively. Then, to reduce the heavy communication burden, a distributed recursive full-order sliding mode control law is designed by introducing a distributed finite-time sliding mode estimator such that only a subset of the group members has access to the virtual leader. Finally, a numerical example is illustrated to demonstrate the validity of the proposed results.

Continuous Recursive Sliding Mode Control for Hypersonic Flight Vehicle with Extended Disturbance Observer

A continuous recursive sliding mode controller (CRSMC) with extended disturbance observer (EDO) is proposed for the longitudinal dynamics of a generic hypersonic flight vehicle (HFV) in the presence of multiple uncertainties under control constraints. Firstly, sliding mode tracking controller based on a set of novel recursive sliding mode manifolds is presented, in which the chattering problem is reduced. The CRSMC possesses the merits of both nonsingular terminal sliding mode controller (NTSMC) and high-order sliding mode controller (HOSMC). Then antiwindup controller is designed according to the input constraints, which adds a dynamic compensation factor in the CRSMC. For the external disturbance of system, an improved disturbance observer based on extended disturbance observer (EDO) is designed. The external disturbance is estimated by the disturbance observer and the estimated value is regarded as compensation in CRSMC for disturbance. The stability of the proposed scheme is analyzed by Lyapunov function theory. Finally, numerical simulation is conducted for cruise flight dynamics of HFV, where altitude is 110000 ft, velocity is 15060 ft/s, and Mach is 15. Simulation results show the validity of the proposed approach.

Fuzzy-Adapted Recursive Sliding-Mode Controller Design for a Nuclear Power Plant Control

In this paper, a multi-input multi-output fuzzy-adapted recursive sliding-mode controller (FARSMC) is designed for an advanced boiling water reactor (ABWR) nuclear power plant, to control reactor pressure, reactor water level and turbine power. The FARSMC is intended to replace the existing conventional controllers for the power range of 70% to 100% rated power. The controller has a recursive form that treats model uncertainty and external disturbances in an implicit way. Thus there is no need to specify uncertainties and disturbances for this controller design in advance. Moreover, the chattering problem common among conventional sliding-mode controllers is completely removed by this recursive sliding-mode control (RSMC) algorithm. The performance of the resulting RSMC is further improved by parameter adaptation using fuzzy logic algorithm, resulting in fuzzy-adapted RSMC (FARSMC). To apply RSMC technique, the original nonlinear plant model is first transformed to a canonical form. Simulations of the simplified ABWR model with the designed FARSMC indicate that FARSMC may result in better performance than the existing PI controllers in that the plant transient responses to the desired output step change have shorter settling time and smaller magnitude overshoot/undershoot. The control actions of the FARSMC are milder than those from the PI controllers. Robustness of the FARSMC with respect to power level variation and capability to reject external disturbances is also achieved. Successful fuzzy adapted sliding-mode controller design and implementation on the model shows that FARSMC may be a practical choice for nuclear power plant control.