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The Non-Singular Fast Terminal Sliding Mode Control of Interior Permanent Magnet Synchronous Motor Based on Deep Flux Weakening Switching Point Tracking
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作者 Xiangfei Li Yang Yin +2 位作者 Yang Zhou Wenchang Liu Kaihui Zhao 《Energy Engineering》 EI 2023年第2期277-297,共21页
This paper presents a novel non-singular fast terminal sliding mode control(NFTSMC)based on the deep flux weakening switching point tracking method in order to improve the control performance of permanent interior mag... This paper presents a novel non-singular fast terminal sliding mode control(NFTSMC)based on the deep flux weakening switching point tracking method in order to improve the control performance of permanent interior magnet synchronous motor(IPMSM)drive systems.The mathematical model of flux weakening(FW)control is established,and the deep flux weakening switching point is calculated accurately by analyzing the relationship between the torque curve and voltage decline curve.Next,a second-order NFTSMC is designed for the speed loop controller to ensure that the system converges to the equilibrium state in finite time.Then,an extended sliding mode disturbance observer(ESMDO)is designed to estimate the uncertainty of the system.Finally,compared with both the PI control and sliding mode control(SMC)by simulations and experiments with different working conditions,the method proposed has the merits of accelerating convergence,improving steady-state accuracy,and minimizing the current and torque pulsation. 展开更多
关键词 Interior permanentmagnet synchronousmotor(IPMSM) flux weakening(FW)control non-singular fast terminal sliding mode control(NFTSMC) extended sliding mode disturbance observer(ESMDO)
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A novel dynamic terminal sliding mode control of uncertain nonlinear systems 被引量:17
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作者 Jinkun LIU Fuchun SUN 《控制理论与应用(英文版)》 EI 2007年第2期189-193,共5页
A new dynamic terminal sliding mode control (DTSMC) technique is proposed for a class of single-input and single-output (SISO) uncertain nonlinear systems. The dynamic terminal sliding mode controller is formulate... A new dynamic terminal sliding mode control (DTSMC) technique is proposed for a class of single-input and single-output (SISO) uncertain nonlinear systems. The dynamic terminal sliding mode controller is formulated based on Lyapunov theory such that the existence of the sliding phase of the closed-loop control system can be guaranteed, chattering phenomenon caused by the switching control action can be eliminated, and high precision performance is realized. Moreover, by designing terminal equation, the output tracking error converges to zero in finite time, the reaching phase of DSMC is eliminated and global robustness is obtained. The simulation results for an inverted pendulum are given to demonstrate the properties of the proposed method. 展开更多
关键词 terminal sliding mode control Dynamic sliding mode Robust control Inverted pendulum
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Finite time convergent control using terminal sliding mode 被引量:11
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作者 YiguangHONG GuowuYANG +1 位作者 DaizhanCHENG SarahSPURGEON 《控制理论与应用(英文版)》 EI 2004年第1期69-74,共6页
A method for terminal sliding mode control design is discussed. As we know, one of the strong points of terminal sliding mode control is its finite-time convergence to a given equilibrium of the system under considera... A method for terminal sliding mode control design is discussed. As we know, one of the strong points of terminal sliding mode control is its finite-time convergence to a given equilibrium of the system under consideration, which may be useful in specific applications. The proposed method, different from many existing terminal sliding model control desin methods, is studied, and then feedback laws are designed for a class of nonlinear systems, along with illustrative examples. 展开更多
关键词 terminal sliding mode control Finite-time convergence Nonlinear systems
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Adaptive terminal sliding mode control for high-order nonlinear dynamic systems 被引量:11
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作者 庄开宇 苏宏业 +1 位作者 张克勤 褚健 《Journal of Zhejiang University Science》 EI CSCD 2003年第1期58-63,共6页
An adaptive terminal sliding mode control (SMC) technique is proposed to deal with the tracking problem for a class of high-order nonlinear dynamic systems. It is shown that a function augmented sliding hyperplane can... An adaptive terminal sliding mode control (SMC) technique is proposed to deal with the tracking problem for a class of high-order nonlinear dynamic systems. It is shown that a function augmented sliding hyperplane can be used to develop a new terminal sliding mode for high-order nonlinear systems. A terminal SMC controller based on Lyapunov theory is designed to force the state variables of the closed-loop system to reach and remain on the terminal sliding mode, so that the output tracking error then converges to zero in finite time which can be set arbitrarily. An adaptive mechanism is introduced to estimate the unknown parameters of the upper bounds of system uncertainties. The estimates are then used as controller parameters so that the effects of uncertain dynamics can be eliminated. It is also shown that the stability of the closed-loop system can be guaranteed with the proposed control strategy. The simulation of a numerical example is provided to show the effectiveness of the new method. 展开更多
关键词 terminal sliding mode control Finite time convergence Adaptive laws
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Synchronization of uncertain fractional-order chaotic systems with disturbance based on a fractional terminal sliding mode controller 被引量:3
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作者 王东风 张金营 王晓燕 《Chinese Physics B》 SCIE EI CAS CSCD 2013年第4期178-184,共7页
This paper provides a novel method to synchronize uncertain fractional-order chaotic systems with external disturbance via fractional terminal sliding mode control. Based on Lyapunov stability theory, a new fractional... This paper provides a novel method to synchronize uncertain fractional-order chaotic systems with external disturbance via fractional terminal sliding mode control. Based on Lyapunov stability theory, a new fractional-order switching manifold is proposed, and in order to ensure the occurrence of sliding motion in finite time, a corresponding sliding mode control law is designed. The proposed control scheme is applied to synchronize the fractional-order Lorenz chaotic system and fractional-order Chen chaotic system with uncertainty and external disturbance parameters. The simulation results show the applicability and efficiency of the proposed scheme. 展开更多
关键词 fractional-order chaotic system SYNCHRONIZATION terminal sliding mode control UNCERTAINTY DISTURBANCE
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An Anticipatory Terminal Iterative Learning Control Approach with Applications to Constrained Batch Processes 被引量:4
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作者 池荣虎 张德霞 +2 位作者 刘喜梅 侯忠生 金尚泰 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2013年第3期271-275,共5页
This work presents an anticipatory terminal iterative learning control scheme for a class of batch proc- esses, where only the final system output is measurable and the control input is constant in each operations. Th... This work presents an anticipatory terminal iterative learning control scheme for a class of batch proc- esses, where only the final system output is measurable and the control input is constant in each operations. The propgsed approach works well with input constraints provided that the desired control input with respect to the desired trajectory is within the samratiorl bound. The tracking error convergence is established with rigorous mathe- matical analysis. Simulation results .are provided to showthe effectiveness, of the proposed approach. 展开更多
关键词 terminal iterative learning control batch-to-batch processes input saturation convergence analysis
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Diving control of underactuated unmanned undersea vehicle using integral-fast terminal sliding mode control 被引量:4
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作者 严浙平 于浩淼 侯恕萍 《Journal of Central South University》 SCIE EI CAS CSCD 2016年第5期1085-1094,共10页
The problem of diving control for an underactuated unmanned undersea vehicle(UUV) considering the presence of parameters perturbations and wave disturbances was addressesed.The vertical motion of an UUV was divided in... The problem of diving control for an underactuated unmanned undersea vehicle(UUV) considering the presence of parameters perturbations and wave disturbances was addressesed.The vertical motion of an UUV was divided into two noninteracting subsystems for surge velocity control and diving.To stabilize the vertical motion system,the surge velocity and the depth control controllers were proposed using backstepping technology and an integral-fast terminal sliding mode control(IFTSMC).It is proven that the proposed control scheme can guarantee that all the error signals in the whole closed-loop system globally converge to the sliding surface in finite time and asymptotically converge to the origin along the sliding surface.With a unified control parameters for different motion states,a series of numerical simulation results illustrate the effectiveness of the above designed control scheme,which also shows strong robustness against parameters perturbations and wave disturbances. 展开更多
关键词 integral-fast terminal sliding mode control depth control underactuated unmanned undersea vehicle
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Nonsingular Terminal Sliding Mode Control With Ultra-Local Model and Single Input Interval Type-2 Fuzzy Logic Control for Pitch Control of Wind Turbines 被引量:7
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作者 Saber Abrazeh Ahmad Parvaresh +3 位作者 Saeid-Reza Mohseni Meisam Jahanshahi Zeitouni Meysam Gheisarnejad Mohammad Hassan Khooban 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2021年第3期690-700,共11页
As wind energy is becoming one of the fastestgrowing renewable energy resources,controlling large-scale wind turbines remains a challenging task due to its system model nonlinearities and high external uncertainties.T... As wind energy is becoming one of the fastestgrowing renewable energy resources,controlling large-scale wind turbines remains a challenging task due to its system model nonlinearities and high external uncertainties.The main goal of the current work is to propose an intelligent control of the wind turbine system without the need for model identification.For this purpose,a novel model-independent nonsingular terminal slidingmode control(MINTSMC)using the basic principles of the ultralocal model(ULM)and combined with the single input interval type-2 fuzzy logic control(SIT2-FLC)is developed for non-linear wind turbine pitch angle control.In the suggested control framework,the MINTSMC scheme is designed to regulate the wind turbine speed rotor,and a sliding-mode(SM)observer is adopted to estimate the unknown phenomena of the ULM.The auxiliary SIT2-FLC is added in the model-independent control structure to improve the rotor speed regulation and compensate for the SM observation estimation error.Extensive examinations and comparative analyses were made using a real-time softwarein-the-loop(RT-SiL)based on the dSPACE 1202 board to appraise the efficiency and applicability of the suggested modelindependent scheme in a real-time testbed. 展开更多
关键词 Interval type-2(IT2)fuzzy logic control modelindependent nonsingular terminal sliding-mode control(MINTSMC) pitch angle control real-time software-in-the-loop(RT-SiL)
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Terminal sliding mode control for coordinated motion of a space rigid manipulator with external disturbance 被引量:3
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作者 郭益深 陈力 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI 2008年第5期583-590,共8页
The control problem of coordinated motion of a free-floating space rigid manipulator with external disturbance is discussed. By combining linear momentum conversion and the Lagrangian approach, the full-control dynami... The control problem of coordinated motion of a free-floating space rigid manipulator with external disturbance is discussed. By combining linear momentum conversion and the Lagrangian approach, the full-control dynamic equation and the Jacobian relation of a free-floating space rigid manipulator are established and then inverted to the state equation for control design. Based on the terminal sliding mode control (SMC) technique, a mathematical expression of the terminal sliding surface is proposed. The terminal SMC scheme is then developed for coordinated motion between the base's attitude and the end-effector of the free-floating space manipulator with external disturbance. This proposed control scheme not only guarantees the existence of the sliding phase of the closed-loop system, but also ensures that the output tracking error converges to zero in finite time. In addition, because the initial system state is always at the terminal sliding surface, the control scheme can eliminate reaching phase of the SMC and guarantee global robustness and stability of the closed-loop system. A planar free-floating space rigid manipulator is simulated to verify the feasibility of the proposed control scheme. 展开更多
关键词 free-floating space rigid manipulator external disturbance terminal slidingsurface coordinated motion terminal sliding mode control
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Neural Network Based Terminal Sliding Mode Control for WMRs Affected by an Augmented Ground Friction With Slippage Effect 被引量:8
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作者 Ming Yue Linjiu Wang Teng Ma 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2017年第3期498-506,共9页
Wheeled mobile robots(WMRs) encounter unavoidable slippage especially on the low adhesion terrain such that the robots stability and accuracy are reduced greatly.To overcome this drawback,this article presents a neura... Wheeled mobile robots(WMRs) encounter unavoidable slippage especially on the low adhesion terrain such that the robots stability and accuracy are reduced greatly.To overcome this drawback,this article presents a neural network(NN) based terminal sliding mode control(TSMC) for WMRs where an augmented ground friction model is reported by which the uncertain friction can be estimated and compensated according to the required performance.In contrast to the existing friction models,the developed augmented ground friction model corresponds to actual fact because not only the effects associated with the mobile platform velocity but also the slippage related to the wheel slip rate are concerned simultaneously.Besides,the presented control approach can combine the merits of both TSMC and radial basis function(RBF) neural networks techniques,thereby providing numerous excellent performances for the closed-loop system,such as finite time convergence and faster friction estimation property.Simulation results validate the proposed friction model and robustness of controller;these research results will improve the autonomy and intelligence of WMRs,particularly when the mobile platform suffers from the sophisticated unstructured environment. 展开更多
关键词 Ground friction radial basis function(RBF) neural network(NN) slippage effect terminal sliding mode control(TSMC) wheeled mobile robot(WMR)
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Neural-Network-Based Terminal Sliding Mode Control for Frequency Stabilization of Renewable Power Systems 被引量:6
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作者 Dianwei Qian Guoliang Fan 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2018年第3期706-717,共12页
This paper addresses a terminal sliding mode control(T-SMC) method for load frequency control(LFC) in renewable power systems with generation rate constraints(GRC).A two-area interconnected power system with wind turb... This paper addresses a terminal sliding mode control(T-SMC) method for load frequency control(LFC) in renewable power systems with generation rate constraints(GRC).A two-area interconnected power system with wind turbines is taken into account for simulation studies. The terminal sliding mode controllers are assigned in each area to achieve the LFC goal. The increasing complexity of the nonlinear power system aggravates the effects of system uncertainties. Radial basis function neural networks(RBF NNs) are designed to approximate the entire uncertainties. The terminal sliding mode controllers and the RBF NNs work in parallel to solve the LFC problem for the renewable power system. Some simulation results illustrate the feasibility and validity of the presented scheme. 展开更多
关键词 Generation rate constraint(GRC) load frequency control(LFC) radial basis function neural networks(RBF NNs) renewable power system terminal sliding mode control(T-SMC)
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Grey Wolf Optimization Based Tuning of Terminal Sliding Mode Controllers for a Quadrotor 被引量:2
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作者 Rabii Fessi Hegazy Rezk Soufiene Bouallègue 《Computers, Materials & Continua》 SCIE EI 2021年第8期2265-2282,共18页
The research on Unmanned Aerial Vehicles(UAV)has intensified considerably thanks to the recent growth in the fields of advanced automatic control,artificial intelligence,and miniaturization.In this paper,a Grey Wolf O... The research on Unmanned Aerial Vehicles(UAV)has intensified considerably thanks to the recent growth in the fields of advanced automatic control,artificial intelligence,and miniaturization.In this paper,a Grey Wolf Optimization(GWO)algorithm is proposed and successfully applied to tune all effective parameters of Fast Terminal Sliding Mode(FTSM)controllers for a quadrotor UAV.A full control scheme is first established to deal with the coupled and underactuated dynamics of the drone.Controllers for altitude,attitude,and position dynamics become separately designed and tuned.To work around the repetitive and time-consuming trial-error-based procedures,all FTSM controllers’parameters for only altitude and attitude dynamics are systematically tuned thanks to the proposed GWO metaheuristic.Such a hard and complex tuning task is formulated as a nonlinear optimization problem under operational constraints.The performance and robustness of the GWO-based control strategy are compared to those based on homologous metaheuristics and standard terminal sliding mode approaches.Numerical simulations are carried out to show the effectiveness and superiority of the proposed GWO-tuned FTSM controllers for the altitude and attitude dynamics’stabilization and tracking.Nonparametric statistical analyses revealed that the GWO algorithm is more competitive with high performance in terms of fastness,non-premature convergence,and research exploration/exploitation capabilities. 展开更多
关键词 QUADROTOR cascade control fast terminal sliding mode control grey wolf optimizer nonparametric Friedman analysis
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Terminal Sliding Mode Fuzzy Control Based on Multiple Sliding Surfaces for Nonlinear Ship Autopilot Systems 被引量:2
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作者 袁雷 吴汉松 《Journal of Marine Science and Application》 2010年第4期425-430,共6页
A terminal sliding mode fuzzy control based on multiple sliding surfaces was proposed for ship course tracking steering, which takes account of rudder characteristics and parameter uncertainty. In order to solve the p... A terminal sliding mode fuzzy control based on multiple sliding surfaces was proposed for ship course tracking steering, which takes account of rudder characteristics and parameter uncertainty. In order to solve the problem, the controller was designed by employing the universal approximation property of fuzzy logic system, the advantage of Nussbaum function, and using multiple sliding mode control algorithm based on the recursive technique. In the last step of designing, a nonsingular terminal sliding mode was utilized to drive the last state of the system to converge in a finite period of time, and high-order sliding mode control law was designed to eliminate the chattering and make the system robust. The simulation results showed that the controller designed here could track a desired course fast and accurately. It also exhibited strong robustness peculiarly to system, and had better adaptive ability than traditional PID control algorithms. 展开更多
关键词 ship course control unmatched uncertainty multiple sliding mode control nonsingular terminal sliding mode control ROBUSTNESS
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Chattering free adaptive fuzzy terminal sliding mode control for second order nonlinear system 被引量:1
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作者 Jinkun LIU Fuchun SUN 《控制理论与应用(英文版)》 EI 2006年第4期385-391,共7页
A novel fuzzy terminal sliding mode control (FTSMC) scheme is proposed for position tracking of a class of second-order nonlinear uncertain system. In the proposed scheme, we integrate input-output linearization tec... A novel fuzzy terminal sliding mode control (FTSMC) scheme is proposed for position tracking of a class of second-order nonlinear uncertain system. In the proposed scheme, we integrate input-output linearization technique to cancel the nonlinearities. By using a function-augmented sliding hyperplane, it is guaranteed that the output tracking error converges to zero in finite time which can be set arbitrarily. The proposed scheme eliminates reaching phase problem, so that the closed-loop system always shows invariance property to parameter uncertainties. Fuzzy logic systems are used to approximate the unknown system functions and switch item. Robust adaptive law is proposed to reduce approximation errors between true nonlinear functions and fuzzy systems, thus chattering phenomenon can be eliminated. Stability of the proposed control scheme is proved and the scheme is applied to an inverted pendulum system. Simulation studies are provided to confirm performance and effectiveness of the proposed control approach. 展开更多
关键词 Adaptive fuzzy control terminal sliding mode control Nonlinear system
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Decoupled nonsingular terminal sliding mode control for affine nonlinear systems 被引量:1
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作者 Yueneng Yang Ye Yan 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2016年第1期192-200,共9页
A decoupled nonsingular terminal sliding mode control(DNTSMC) approach is proposed to address the tracking control problem of affine nonlinear systems.A nonsingular terminal sliding mode control(NTSMC) method is p... A decoupled nonsingular terminal sliding mode control(DNTSMC) approach is proposed to address the tracking control problem of affine nonlinear systems.A nonsingular terminal sliding mode control(NTSMC) method is presented,in which the nonsingular terminal sliding surface is defined as a special nonsingular terminal function and the convergence time of the system states can be specified.The affine nonlinear system is firstly decoupled into linear subsystems via feedback linearization.Then,a nonsingular terminal sliding surface is defined and the NTSMC method is applied to each subsystem separately to ensure the finite time convergence of the closed-loop system.The verification example is given to demonstrate the effectiveness and robustness of the proposed approach.The proposed approach exhibits a considerable advantage in terms of faster tracking error convergence and less chattering compared with the conventional sliding mode control(CSMC). 展开更多
关键词 nonlinear control feedback linearization terminal sliding mode control nonsingular affine nonlinear system.
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Nonsingular Fast Terminal Sliding Mode Control Based on Nonlinear Disturbance Observer for a Quadrotor 被引量:1
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作者 ZHAO Jing WANG Peng +2 位作者 SUN Yanfei XU Fengyu XIE Fei 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2022年第2期219-230,共12页
Given external disturbances and system uncertainties,a nonsingular fast terminal sliding mode control(NFTSMC)method integrated a nonlinear disturbance observer(NDO)is put forward for quadrotor aircraft.First,a NDO is ... Given external disturbances and system uncertainties,a nonsingular fast terminal sliding mode control(NFTSMC)method integrated a nonlinear disturbance observer(NDO)is put forward for quadrotor aircraft.First,a NDO is proposed to estimate the actual values of uncertainties and disturbances.Second,the NFTSM controller based on the reaching law is designed for the attitude subsystem(inner loop),and the control strategy can ensure Euler angles’fast convergence and stability of the attitude subsystem.Moreover,the NFTSMC strategy combined with backstepping is proposed for the position subsystem(outer loop),which can ensure subsystem tracking performance.Finally,comparative simulations show the trajectory tracking performance of the proposed method is superior to that of the traditional sliding mode control(SMC)and the SM integral backstepping control under uncertainties and disturbances. 展开更多
关键词 quadrotor aircraft nonlinear disturbance observer(NDO) nonsingular fast terminal sliding mode control(NFTSMC) disturbances
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Non-Negative Adaptive Mechanism-Based Sliding Mode Control for Parallel Manipulators with Uncertainties 被引量:1
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作者 Van-Truong Nguyen 《Computers, Materials & Continua》 SCIE EI 2023年第2期2771-2787,共17页
In this paper,a non-negative adaptive mechanism based on an adaptive nonsingular fast terminal sliding mode control strategy is proposed to have finite time and high-speed trajectory tracking for parallel manipulators... In this paper,a non-negative adaptive mechanism based on an adaptive nonsingular fast terminal sliding mode control strategy is proposed to have finite time and high-speed trajectory tracking for parallel manipulators with the existence of unknown bounded complex uncertainties and external disturbances.The proposed approach is a hybrid scheme of the online non-negative adaptive mechanism,tracking differentiator,and nonsingular fast terminal sliding mode control(NFTSMC).Based on the online non-negative adaptive mechanism,the proposed control can remove the assumption that the uncertainties and disturbances must be bounded for the NFTSMC controllers.The proposed controller has several advantages such as simple structure,easy implementation,rapid response,chattering-free,high precision,robustness,singularity avoidance,and finite-time convergence.Since all control parameters are online updated via tracking differentiator and non-negative adaptive law,the tracking control performance at high-speed motions can be better in real-time requirement and disturbance rejection ability.Finally,simulation results validate the effectiveness of the proposed method. 展开更多
关键词 Parallel manipulator uncertainties and disturbances nonsingular fast terminal sliding mode control non-negative adaptive mechanism tracking differentiator
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Controlling chaos based on a novel intelligent integral terminal sliding mode control in a rod-type plasma torch
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作者 Safa Khari Zahra Rahmani Behrooz Rezaie 《Chinese Physics B》 SCIE EI CAS CSCD 2016年第5期11-22,共12页
An integral terminal sliding mode controller is proposed in order to control chaos in a rod-type plasma torch system.In this method, a new sliding surface is defined based on a combination of the conventional sliding ... An integral terminal sliding mode controller is proposed in order to control chaos in a rod-type plasma torch system.In this method, a new sliding surface is defined based on a combination of the conventional sliding surface in terminal sliding mode control and a nonlinear function of the integral of the system states. It is assumed that the dynamics of a chaotic system are unknown and also the system is exposed to disturbance and unstructured uncertainty. To achieve a chattering-free and high-speed response for such an unknown system, an adaptive neuro-fuzzy inference system is utilized in the next step to approximate the unknown part of the nonlinear dynamics. Then, the proposed integral terminal sliding mode controller stabilizes the approximated system based on Lyapunov's stability theory. In addition, a Bee algorithm is used to select the coefficients of integral terminal sliding mode controller to improve the performance of the proposed method. Simulation results demonstrate the improvement in the response speed, chattering rejection, transient response,and robustness against uncertainties. 展开更多
关键词 CHAOS rod-type plasma torch intelligent integral terminal sliding mode control Bee algorithm
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Terminal Sliding Mode Controllers for Hydraulic Turbine Governing System with Bifurcated Penstocks under Input Saturation
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作者 Ji Liang Zhihuan Chen +2 位作者 Xiaohui Yuan Binqiao Zhang Yanbin Yuan 《Computer Modeling in Engineering & Sciences》 SCIE EI 2020年第5期603-629,共27页
Terminal sliding mode controller method is introduced to enhance the regulation performance of the hydraulic turbine governing system(HTGS).For the purpose of describing the characteristics of controlled system and de... Terminal sliding mode controller method is introduced to enhance the regulation performance of the hydraulic turbine governing system(HTGS).For the purpose of describing the characteristics of controlled system and deducing the control rule,a nonlinear mathematic model of hydraulic turbine governing system with bifurcated penstocks(HTGSBF)under control input saturation is established,and the input/output state linearization feedback approach is used to obtain the relationship between turbine speed and controller output.To address the control input saturation problem,an adaptive assistant system is designed to compensate for controller truncation.Numerical simulations have been conducted under fixed point stabilization and periodic orbit tracking conditions to compare the dynamic performances of proposed terminal sliding mode controllers and conventional sliding mode controller.The results indicate that the proposed terminal sliding mode controllers not only have a faster response and accurate tracking results,but also own a stronger robustness to the system parameter variations.Moreover,the comparisons between the proposed terminal sliding mode controllers and current most often used proportional-integral-differential(PID)controller,as well its variant NPID controller,are discussed at the end of this paper,where the superiority of the terminal sliding mode controllers also have been verified. 展开更多
关键词 Hydraulic turbine governing system bifurcated penstock sliding mode controller terminal sliding mode controller saturation compensator
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Path Following Control of A Deep-Sea Manned Submersible Based upon NTSM 被引量:7
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作者 马岭 崔维成 《China Ocean Engineering》 SCIE EI 2005年第4期625-636,共12页
In this paper, a robust path following control law is proposed for a deep-sea manned submersible maneuvering along a predeterminated path. Developed in China, the submersible is underactuated in the horizontal plane i... In this paper, a robust path following control law is proposed for a deep-sea manned submersible maneuvering along a predeterminated path. Developed in China, the submersible is underactuated in the horizontal plane in that it is actuated by two perpendicular thrusts in this plane. The advanced non-singular terminal sliding mode (NTSM) is implemented for the design of the path following controller, which can ensure the convergence of the motion system in finite time and improve its robustness against parametric uncertainties and environmental disturbances. In the process of controller design, the close-loop stability is considered and proved by Lyapunov' s stability theory. With the experimental data, numerical simulations are provided to verify the control law for path following of the deep-sea manned submersible. 展开更多
关键词 path following deep-sea manned submersible terminal sliding mode control ROBUSTNESS
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