Terminal Sliding Mode Research Articles

Terminal Sliding Mode Controller Design Based on Barrier for UAVs With Mismatched Disturbances

Terminal Sliding Mode Controller Design Based on Barrier for UAVs With Mismatched Disturbances

Adaptive Backstepping Fractional-order Nonsingular Terminal Sliding Mode Control of the Continuous Polymerization Reactor

Adaptive Backstepping Fractional-order Nonsingular Terminal Sliding Mode Control of the Continuous Polymerization Reactor

Sensorless Control Based on Discrete Fractional-order Terminal Sliding Mode Observer for High-Speed PMSM with LCL Filter

Sensorless Control Based on Discrete Fractional-order Terminal Sliding Mode Observer for High-Speed PMSM with LCL Filter

Three-Phase Phase-Locked Loop Based on Terminal Sliding Mode for Grid-Connected Inverters

Three-Phase Phase-Locked Loop Based on Terminal Sliding Mode for Grid-Connected Inverters

New non-singular terminal sliding mode control of DC motor

Terminal Sliding Mode control (TSM) is created by equivalent control and discontinuous control, but when the states are close to zero the singularity may occur. To avoid this phenomenom Non-Singular Terminal Sliding Mode Control is introduced. But this technique also makes the convergence time longer. This article proposes a new Non-Singular Terminal Sliding Mode Control (NSTSM) to keep the convergence time short when avoiding sigularity. The process of synthesizing the control law is strictly mathematically guaranteed. Simulations in Matlab visually represent the research results.

Fixed-Time Integral Terminal Sliding Mode Control with Super-Twisting Nonlinear Extended State Observer for Servo System with Disturbances

Fixed-Time Integral Terminal Sliding Mode Control with Super-Twisting Nonlinear Extended State Observer for Servo System with Disturbances

A Predefined-time Non-singular Terminal Sliding Mode Control for Multi Space Transport Robot System with Varying Power Reaching Law

A Predefined-time Non-singular Terminal Sliding Mode Control for Multi Space Transport Robot System with Varying Power Reaching Law

A New Reaching Law Based Nonsingular Terminal Sliding Mode Control Scheme for the Servo System With Periodic Uncertainties

A New Reaching Law Based Nonsingular Terminal Sliding Mode Control Scheme for the Servo System With Periodic Uncertainties

Non-singular terminal sliding mode control for trajectory-tracking of a differential drive robot

This paper presents a trajectory control scheme for a non-holonomic differential drive mobile robot using the Non-singular Terminal Sliding Mode (NTSM) control method. The proposed approach, in fact, is a cascade control system scheme with the NTSM based dynamic controller at the internal loop which tracks the robot’s velocity quantities and a kinematic controller at the outer loop to regulate the robot’s position. In this manner, the control performance is robust to both disturbances and model’s uncertainties, as well as guarantees fast, finite-time convergence at better tracking precision. The simulation results demonstrate the merit of the anticipated control scheme.

Fixed-time Integral Terminal Sliding Mode Control for Vehicle Platoon With Prescribed Performance

Fixed-time Integral Terminal Sliding Mode Control for Vehicle Platoon With Prescribed Performance

A New Adaptive Terminal Sliding Mode Speed Control in Flux Weakening Region for DTC Controlled Induction Motor Drive

A New Adaptive Terminal Sliding Mode Speed Control in Flux Weakening Region for DTC Controlled Induction Motor Drive

Double Closed-loop Model-free Super-twisting Terminal Sliding Mode Control Algorithm of IPMSM Based on Third-order Super-twisting Observer

Double Closed-loop Model-free Super-twisting Terminal Sliding Mode Control Algorithm of IPMSM Based on Third-order Super-twisting Observer

Self-Organizing Chebyshev Fuzzy Neural Network Integral Terminal Sliding Mode Control of Active Power Filter

Self-Organizing Chebyshev Fuzzy Neural Network Integral Terminal Sliding Mode Control of Active Power Filter

Fixed-Time Disturbance Observer-Based Terminal Sliding Mode Control for Manipulators With a Novel Reaching Law

Fixed-Time Disturbance Observer-Based Terminal Sliding Mode Control for Manipulators With a Novel Reaching Law

Model‐free based adaptive finite time control with multilayer perceptron neural network estimation for a 10 DOF lower limb exoskeleton

SummaryThis article presents a Model‐Free Adaptive Nonsingular Fast Terminal Sliding Mode Controller with Super Twisting and Multi‐Layer Perceptron (MLP) neural network for motion control of a 10 DOFs lower limb exoskeleton used in rehabilitation. The proposed controller employs a second‐order ultra‐local model to replace the complex dynamics of the exoskeleton and uses an MLP neural network to estimate the lumped disturbance of the ultra‐local model. To ensure accurate tracking of the desired trajectory and address the estimation errors of the MLP, an Adaptive Nonsingular Fast Terminal Sliding Mode Controller is introduced. Moreover, a Super Twisting approach is employed to eliminate the chattering phenomenon. The system's stability is analyzed using Lyapunov theory, and the desired trajectories are obtained from surface electromyography (EMG) signal measurements. The effectiveness of the proposed controller is validated through co‐simulation experiments using SolidWorks, Simscape Multibody, and MATLAB/Robotics Toolbox. Results demonstrate significant improvements in stability and precision compared to existing model‐free controllers.

Walking position commanded NAO robot using nonlinear disturbance observer-based fixed-time terminal sliding mode

The walking stability of a humanoid robot is a fundamental problem due to the complex nonlinear dynamic model of the robot’s legs. This work introduces the performance tracking control for the humanoid NAO robot by using a Nonlinear Disturbance Observer (NDO)-based Fixed-time Terminal Sliding Mode (FTSM). The influence of uncertain external disturbance is considered while implementing the control strategy to improve the walking motion of the NAO robot. An NDO is adapted to estimate the uncertainties and external disturbances. A novel FTSM surface is proposed to drive the tracking errors to zero in fixed-time. The designed NDO-based FTSM control law achieves robustness while reducing the chattering phenomenon. The Lyapunov’s stability theory is used to establish the fixed-time stability of the sliding surface and system states under the proposed control method. To validate the performance of the proposed NDO-based FTSM control, a real-time experiment was conducted on a humanoid NAO robot to demonstrate the improved tracking performance in the presence of the uncertain perturbation effect. The effectiveness of the proposed controller design is validated on a flat, upward inclined surface, and compared to another controller.

Attitude and Vibration Control of a Flexible Spacecraft using Hybrid Adaptive Super-Twisting Non-singular Terminal Sliding Mode Control

Attitude and Vibration Control of a Flexible Spacecraft using Hybrid Adaptive Super-Twisting Non-singular Terminal Sliding Mode Control

Speed & gear dynamic planning and velocity tracking control considering traffic light information

To optimize fuel economy and improve vehicle longitudinal control performance, this paper proposed a speed & gear planning strategy considering traffic light information and velocity tracking control. First, to guarantee that the vehicle can pass through traffic lights without stop if possible and retain the highest terminal speed, this article discusses a Propelling or Coasting (PoC) serialization scheme. The speed & gear planning are realized by adjusting acceleration while propelling, with the upper and lower speeds set according to vehicle status and traffic light information; Second, to improve the accuracy and anti-perturbation performance of longitudinal control, a compound control method using improved Global Fast Terminal Sliding Mode Control (GFT-SMC) is developed, which enables the reduction of control output while maintaining high tracking performance and smooth control ability. Finally, both the hardware-in-loop (HIL) and real-vehicle experimental results show that the proposed control method effectively improves fuel economy with better speed tracking performance and strong perturbation robustness.

Research on Neural Network Terminal Sliding Mode Control of Robotic Arms Based on Novel Reaching Law and Improved Salp Swarm Algorithm

Modeling errors and external disturbances have significant impacts on the control accuracy of robotic arm trajectory tracking. To address this issue, this paper proposes a novel method, the neural network terminal sliding mode control (ALSSA-RBFTSM), which combines fast nonsingular terminal sliding mode (FNTSM) control, radial basis function (RBF) neural network, and an improved salp swarm algorithm (ALSSA). This method effectively enhances the trajectory tracking accuracy of robotic arms under the influence of uncertain factors. Firstly, the fast nonsingular terminal sliding surface is utilized to enhance the convergence speed of the system and achieve finite-time convergence. Building upon this, a novel multi-power reaching law is proposed to reduce system chattering. Secondly, the RBF neural network is utilized to estimate and compensate for modeling errors and external disturbances. Then, an improved salp swarm algorithm is proposed to optimize the parameters of the controller. Finally, the stability of the control system is demonstrated using the Lyapunov theorem. Simulation and experimental results demonstrate that the proposed ALSSA-RBFTSM algorithm exhibits superior robustness and trajectory tracking performance compared to the global fast terminal sliding mode (GFTSM) algorithm and the RBF neural network fast nonsingular terminal sliding mode (RBF-FNTSM) algorithm.

Optimal Model-Free Finite-Time Control Based on Terminal Sliding Mode for a Coaxial Rotor

This study focuses on addressing the tracking control problem for a coaxial unmanned aerial vehicle (UAV) without any prior knowledge of its dynamic model. To overcome the limitations of model-based control, a model-free approach based on terminal sliding mode control is proposed for achieving precise position and rotation tracking. The terminal sliding mode technique is utilized to approximate the unknown nonlinear model of the system, while the global stability with finite-time convergence of the overall system is guaranteed using the Lyapunov theory. Additionally, the selection of control parameters is addressed by incorporating the accelerated particle swarm optimization (APSO) algorithm. Finally, numerical simulation tests are provided to demonstrate the effectiveness and feasibility of the proposed design approach, which demonstrates the capability of the model-free control approach to achieve accurate tracking control even without prior knowledge of the system’s dynamic model.