Thông tin chung
  English
  Đề tài NC khoa học
  Bài báo, báo cáo khoa học
  Hướng dẫn Sau đại học
  Sách và giáo trình
  Các học phần và môn giảng dạy
  Giải thưởng khoa học, Phát minh, sáng chế
  Khen thưởng
  Thông tin khác
  Tài liệu tham khảo
  Hiệu chỉnh
 
Số người truy cập: 106,853,170

 A Chattering-Free, Adaptive, Robust Tracking Control Scheme for Nonlinear Systems With Uncertain Dynamics
Tác giả hoặc Nhóm tác giả: Anh Tuan Vo, Hee-Jun Kang
Nơi đăng: IEEE Access, IEEE Xplore Digital Library; Số: 7;Từ->đến trang: 10457 - 10466;Năm: 2019
Lĩnh vực: Kỹ thuật; Loại: Bài báo khoa học; Thể loại: Quốc tế
TÓM TẮT
This paper introduces a chattering-free, adaptive, and robust tracking control scheme for a class of second-order nonlinear systems with uncertain dynamics. First, a proportional-integral-derivative
control-fast terminal sliding function is proposed to enable the advantages of both the PID and non-singular fast terminal sliding mode approaches in the field of non-singularity, fast convergence time, defined time convergence, and stability with small steady-state errors. Second, to obtain the desired control target without chattering behavior, the proposed controller with a continuous approach has been applied. In detail, the proposed controller uses an integral of a switching term and an adaptive updating law to compensate the lumped system uncertainty (e.g., disturbances, unmodeled dynamics, nonlinearities, or unmeasurable noise). Our proposed controller does not require knowledge about bound values of those anonymous components.
The robust behavior and the defined time convergence have been demonstrated rigorously by the Lyapunov principle. Finally, the position tracking computer simulations have been performed to demonstrate the effectiveness and practicality of the suggested controller.
ABSTRACT
This paper introduces a chattering-free, adaptive, and robust tracking control scheme for a class of second-order nonlinear systems with uncertain dynamics. First, a proportional-integral-derivative
control-fast terminal sliding function is proposed to enable the advantages of both the PID and non-singular fast terminal sliding mode approaches in the field of non-singularity, fast convergence time, defined time convergence, and stability with small steady-state errors. Second, to obtain the desired control target without chattering behavior, the proposed controller with a continuous approach has been applied. In detail, the proposed controller uses an integral of a switching term and an adaptive updating law to compensate the lumped system uncertainty (e.g., disturbances, unmodeled dynamics, nonlinearities, or unmeasurable noise). Our proposed controller does not require knowledge about bound values of those anonymous components.
The robust behavior and the defined time convergence have been demonstrated rigorously by the Lyapunov principle. Finally, the position tracking computer simulations have been performed to demonstrate the effectiveness and practicality of the suggested controller.
© Đại học Đà Nẵng
 
 
Địa chỉ: 41 Lê Duẩn Thành phố Đà Nẵng
Điện thoại: (84) 0236 3822 041 ; Email: dhdn@ac.udn.vn