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Số người truy cập: 72,394,570

 A Robust Tracking Control Method for Uncertain Nonlinear Systems with Chattering-free Terminal Sliding Mode Control
Tác giả hoặc Nhóm tác giả: Vo Anh Tuan, Hee-Jun Kang, and Nguyen Ngoc Hoai An
Nơi đăng: 22nd International Conference on Mechatronics Technology (ICMT 2018); Số: 2018;Từ->đến trang: 30;Năm: 2018
Lĩnh vực: Kỹ thuật; Loại: Bài báo khoa học; Thể loại: Quốc tế
TÓM TẮT
This paper suggests a chattering-free robust tracking control method for a class of second-order nonlinear systems with dynamic uncertainties and external disturbance. Due to the robustness against uncertain terms affecting the system and great characteristics such as non-singularity, quick convergence, high accuracy and small chattering behavior, the non-singular fast terminal sliding mode control has been adopted to develop the proposed controller. The proposed terminal sliding mode control is based on a new nonsingular fast terminal sliding function, a continuous method (with an integral of a switching term), and an adaptive adjustment law. In comparison with other control methods, the suggested control method has the more capability to compensate dynamic uncertainties and external disturbances and higher accuracy to track the desired path. Finally, a position tracking computer simulation for a three- link robot manipulator has been performed to confirm the effectiveness of the proposed method.
ABSTRACT
This paper suggests a chattering-free robust tracking control method for a class of second-order nonlinear systems with dynamic uncertainties and external disturbance. Due to the robustness against uncertain terms affecting the system and great characteristics such as non-singularity, quick convergence, high accuracy and small chattering behavior, the non-singular fast terminal sliding mode control has been adopted to develop the proposed controller. The proposed terminal sliding mode control is based on a new nonsingular fast terminal sliding function, a continuous method (with an integral of a switching term), and an adaptive adjustment law. In comparison with other control methods, the suggested control method has the more capability to compensate dynamic uncertainties and external disturbances and higher accuracy to track the desired path. Finally, a position tracking computer simulation for a three- link robot manipulator has been performed to confirm the effectiveness of the proposed method.
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