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Terminal sliding mode control of Markovian jumping manipulator systems
2016 IEEE International Conference on Industrial Technology (ICIT), 2016This paper investigates terminal sliding mode control of the continuous Markovian jumping manipulator systems. The proposed sliding manifold is a nonsingular sliding mode. The time taken to reach the equilibrium from any initial state is finite. The control scheme can ensure the manipulator to track the desire trajectory.
Jiaming Zhu +3 more
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A Fuzzy Terminal Sliding Mode Control Method
2009 WASE International Conference on Information Engineering, 2009Abstract—A scheme which combines fuzzy control with terminal sliding mode control is proposed in this paper, and stability of the proposed control scheme is proved. It is not only guaranteed that the output tracking error converges to zero in finite time which can be set arbitrarily, but also the chattering phenomenon is alleviated effectively by using
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Robust control by adaptive Non-singular Terminal Sliding Mode
Engineering Applications of Artificial Intelligence, 2017Based on the principles of the Non-singular Terminal Sliding Mode Control (NTSMC), a new control law along with an Unscented Kalman Filter (UKF) has been proposed for robotic manipulators, that can tolerate external disturbances and noises with unknown statistics. First, a neural network module has been used as a discontinuous control part of the NTSMC
Reza Mohammadi Asl +2 more
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Nonsingular terminal sliding mode control for uncertain actuator systems
IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society, 2016For the actuator uncertain nonlinear system, the paper proposed a nonsingular terminal sliding-mode (NTSM) control. The proposed strategy not only can eliminate the singularity problem but also can converge to the equilibrium point in finite time. The paper designed the controller for the two-order system and the higher-order uncertain actuator systems,
Xuemei Zheng +4 more
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Terminal Sliding Mode Control of a Boost Converter
2015In this paper, a terminal sliding mode (TSM) control method for the boost converter is studied. First of all, the nonlinear model of boost converter is established. Then a change of coordinate is employed such that the nonlinear model will be transformed into a linear system.
Meimei Xu, Li Ma, Shihong Ding
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Study of terminal sliding mode control with fault-tolerant design
11th IEEE International Conference on Control & Automation (ICCA), 2014This paper studies the terminal sliding mode control (TSMC) issue considering the fault-tolerant design. In the proposed scheme, TSMC can keep the merits of conventional sliding mode control (SMC), including robustness to uncertainties and/or disturbances, fast response, and easy implementation.
Sendren Sheng-Dong Xu +4 more
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Global fast terminal sliding mode control for robotic manipulators
International Journal of Modelling, Identification and Control, 2006A Global Fast Terminal Sliding Mode Controller (GFTSMC) is proposed for n-link robotic manipulators by employing the Fast Terminal Sliding Mode (FTSM) control concept in both the reaching phase and the sliding phase. Under the control, the system states will reach FTSM in desired finite time and then converge to the origin along the FTSM in specified ...
Shuanghe Yu +3 more
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On discrete time terminal sliding mode control for nonlinear systems
2009 European Control Conference (ECC), 2009This paper addresses a terminal sliding mode control method for nonlinear discrete time systems. A sequence of nonlinear sliding manifolds is designed. After the last one in this sequence is forced to zero by a reaching controller, the rest ones converge to zero due to the influence of a power rule.
Zhiyu Xi, Tim Hesketh
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Finite-Time Continuous Terminal Sliding Mode Control of Servo Motor Systems
IEEE Transactions on Industrial Electronics, 2020Long Xu, Xinghuo Yu, Huazhou Hou
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