Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach

The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.

Trajectory tracking guidance of interceptor via prescribed performance integral sliding mode with neural network disturbance observer

This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.

Control method based on DRFNN sliding mode for multifunctional flexible multistate switch

To address the low accuracy and stability when applying classical control theory in distribution networks with distributed generation,a control method involving flexible multistate switches(FMSs)is proposed in this study.This approach is based on an improved double-loop recursive fuzzy neural network(DRFNN)sliding mode,which is intended to stably achieve multiterminal power interaction and adaptive arc suppression for single-phase ground faults.First,an improved DRFNN sliding mode control(SMC)method is proposed to overcome the chattering and transient overshoot inherent in the classical SMC and reduce the reliance on a precise mathematical model of the control system.To improve the robustness of the system,an adaptive parameter-adjustment strategy for the DRFNN is designed,where its dynamic mapping capabilities are leveraged to improve the transient compensation control.Additionally,a quasi-continuous second-order sliding mode controller with a calculus-driven sliding mode surface is developed to improve the current monitoring accuracy and enhance the system stability.The stability of the proposed method and the convergence of the network parameters are verified using the Lyapunov theorem.A simulation model of the three-port FMS with its control system is constructed in MATLAB/Simulink.The simulation result confirms the feasibility and effectiveness of the proposed control strategy based on a comparative analysis.

On the role of sliding friction effect in nonlinear tri-hybrid vibration-based energy harvesting

This work aims to develop an experimental investigation into the effectiveness of the sliding-mode approach for hybrid vibration-based energy harvesting.A proposed sliding-mode triboelectric-electromagnetic-piezoelectric energy harvesting model involves a cantilever beam with a tip mass exposed to magnetic and frictional forces.The experimental findings indicate that the system can achieve its peak inter-well oscillation output within a low-frequency range of 4 Hz–6 Hz.Friction has a lesser impact on the open-circuit voltage output at an excitation acceleration of 1.5g compared with 1g.The distribution of tri-stability changes with the presence of friction.This model provides a deeper understanding of the influence of the dry friction coefficient(0.2–0.5) on the interactive behaviors of different generator units.

A Novel Disturbance Observer Based Fixed-Time Sliding Mode Control for Robotic Manipulators With Global Fast Convergence

This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems.Then an adaptive scheme is used and the adaptive FTDO(AFTDO) is developed,so that the priori knowledge of the lumped disturbance is not required.Further,a new non-singular fast terminal sliding mode(NFTSM) surface is designed by using an arctan function,which helps to overcome the singularity problem and enhance the robustness of the system.Based on the estimation of the lumped disturbance by the AFTDO,a fixed-time non-singular fast terminal sliding mode controller(FTNFTSMC)is developed to guarantee the trajectory tracking errors converge to zero within a fixed time.The settling time is independent of the initial state of the system.In addition,the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov method.Finally,the fixed-time NFESM(FTNFTSM) algorithm is validated on a 2-link manipulator and comparisons with other existing sliding mode controllers(SMCs) are performed.The comparative results confirm that the FTNFTSMC has superior control performance.

An approach for determination of lateral limit angle in kinematic planar sliding analysis for rock slopes

Planar sliding is one of the frequently observed types of failure in rock slopes.Kinematic analysis is a classic and widely used method to examine the potential failure modes in rock masses.The accuracy of planar sliding kinematic analysis is significantly influenced by the value assigned to the lateral limit angleγlim.However,the assignment ofγlim is currently used generally based on an empirical criterion.This study aims to propose an approach for determining the value ofγlim in deterministic and probabilistic kinematic planar sliding analysis.A new perspective is presented to reveal thatγlim essentially influences the probability of forming a potential planar sliding block.The procedure to calculate this probability is introduced using the block theory method.It is found that the probability is correlated with the number of discontinuity sets presented in rock masses.Thus,different values ofγlim for rock masses with different sets of discontinuities are recommended in both probabilistic and deterministic planar sliding kinematic analyses;whereas a fixed value ofγlim is commonly assigned to different types of rock masses in traditional method.Finally,an engineering case was used to compare the proposed and traditional kinematic analysis methods.The error rates of the traditional method vary from 45%to 119%,while that of the proposed method ranges between 1%and 17%.Therefore,it is likely that the proposed method is superior to the traditional one.

Fixed-Time Sliding Mode Control With Varying Exponent Coefficient for Modular Reconfigurable Flight Arrays

The modular system can change its physical structure by self-assembly and self-disassembly between modules to dynamically adapt to task and environmental requirements. Recognizing the adaptive capability of modular systems, we introduce a modular reconfigurable flight array(MRFA) to pursue a multifunction aircraft fitting for diverse tasks and requirements,and investigate the attitude control and the control allocation problem by using the modular reconfigurable flight array as a platform. First, considering the variable and irregular topological configuration of the modular array, a center-of-mass-independent flight array dynamics model is proposed to allow control allocation under over-actuated situations. Secondly, in order to meet the stable, fast and accurate attitude tracking performance of the MRFA, a fixed-time convergent sliding mode controller with state-dependent variable exponent coefficients is proposed to ensure fast convergence rate both away from and near the system equilibrium point without encountering the singularity. It is shown that the controller also has fixed-time convergent characteristics even in the presence of external disturbances. Finally,simulation results are provided to demonstrate the effectiveness of the proposed modeling and control strategies.

Adaptive state-constrained/model-free iterative sliding mode control for aerial robot trajectory tracking

This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.

Asynchronous Learning-Based Output Feedback Sliding Mode Control for Semi-Markov Jump Systems: A Descriptor Approach

This paper presents an asynchronous output-feed-back control strategy of semi-Markovian systems via sliding mode-based learning technique.Compared with most literature results that require exact prior knowledge of system state and mode information,an asynchronous output-feedback sliding sur-face is adopted in the case of incompletely available state and non-synchronization phenomenon.The holonomic dynamics of the sliding mode are characterized by a descriptor system in which the switching surface is regarded as the fast subsystem and the system dynamics are viewed as the slow subsystem.Based upon the co-occurrence of two subsystems,the sufficient stochastic admissibility criterion of the holonomic dynamics is derived by utilizing the characteristics of cumulative distribution functions.Furthermore,a recursive learning controller is formulated to guarantee the reachability of the sliding manifold and realize the chattering reduction of the asynchronous switching and sliding motion.Finally,the proposed theoretical method is substantia-ted through two numerical simulations with the practical contin-uous stirred tank reactor and F-404 aircraft engine model,respectively.

Control system design for a pressure-tube-type supercritical water-cooled nuclear reactor via a higher order sliding mode method

Nuclear power plants exhibit non-linear and time-variable dynamics.Therefore,designing a control system that sets the reactor power and forces it to follow the desired load is complicated.A supercritical water reactor(SCWR)is a fourth-generation conceptual reactor.In an SCWR,the non-linear dynamics of the reactor require a controller capable of control-ling the nonlinearities.In this study,a pressure-tube-type SCWR was controlled during reactor power maneuvering with a higher order sliding mode,and the reactor outgoing steam temperature and pressure were controlled simultaneously.In an SCWR,the temperature,pressure,and power must be maintained at a setpoint(desired value)during power maneuvering.Reactor point kinetics equations with three groups of delayed neutrons were used in the simulation.Higher-order and classic sliding mode controllers were separately manufactured to control the plant and were compared with the PI controllers speci-fied in previous studies.The controlled parameters were reactor power,steam temperature,and pressure.Notably,for these parameters,the PI controller had certain instabilities in the presence of disturbances.The classic sliding mode controller had a higher accuracy and stability;however its main drawback was the chattering phenomenon.HOSMC was highly accurate and stable and had a small computational cost.In reality,it followed the desired values without oscillations and chattering.

Design of integral sliding mode guidance law based on disturbance observer

With the increasing precision of guidance,the impact of autopilot dynamic characteristics and target maneuvering abilities on precision guidance is becoming more and more significant.In order to reduce or even eliminate the autopilot dynamic operation and the target maneuvering influence,this paper suggests a guidance system model involving a novel integral sliding mode guidance law(ISMGL).The method utilizes the dynamic characteristics and the impact angle,combined with a sliding mode surface scheme that includes the desired line-ofsight angle,line-of-sight angular rate,and second-order differential of the angular line-of-sight.At the same time,the evaluation scenario considere the target maneuvering in the system as the external disturbance,and the non-homogeneous disturbance observer estimate the target maneuvering as a compensation of the guidance command.The proposed system’s stability is proven based on the Lyapunov stability criterion.The simulations reveale that ISMGL effectively intercepted large maneuvering targets and present a smaller miss-distance compared with traditional linear sliding mode guidance laws and trajectory shaping guidance laws.Furthermore,ISMGL has a more accurate impact angle and fast convergence speed.

Synthesis of NO by rotating sliding arc discharge reactor with conical-spiral electrodes

The present work investigates the potential applications of nitrogen oxides(NO_(x)),particularly nitric oxide(NO)and nitrogen dioxide(NO_(2)),generated through discharge plasma in diverse sectors such as medicine,nitrogen fixation,energy,and environmental protection.In this study,a rotating sliding arc discharge reactor was initially employed to produce high concentrations of gaseous NO_(x),followed by the utilization of a molybdenum wire redox reactor for NO_(2)-to-NO conversion.The outcomes reveal that the discharge states and generations of NO_(x) are affected by varying parameters,including the applied energies,frequencies and airflow states(1.3-2.6 m/s are the laminar flow,2.6-5.2 m/s are the transition state,5.2-6.5 m/s are the turbulent flow),and the concentrations of NO_(x) within the arc discharge are higher than that in the spark discharge.Moreover,the concentrations of NO,NO_(2) and NO_(x) gradually increased,and the concentration ratios of NO/NO_(2) and NO_(x)/NO_(2) decreased with increasing the applied energy for one cycle from 14.8 mJ to 24.3 mJ.Meanwhile,the concentrations of NO,NO_(2) and NO_(x) gradually decreased,and the concentration ratios of NO/NO_(2) and NO_(x)/NO_(2) first decreased and then increased with increasing the applied frequencies from 5.0 kHz to 9.0 kHz.Further,the concentrations of NO,NO_(2) and NO_(x) gradually decreased,and the concentration ratios of NO/NO_(2) and NO_(x)/NO_(2) first increased and then decreased with increasing the air flow speeds from 1.3 m/s to 6.5 m/s.Lastly,the concentrations of NO increased and NO_(2) decreased with increasing temperature from 25℃ to 400℃ using molybdenum converted.These findings provide experimental support for the application of plasma in the fields of medicine,nitrogen fixation,energy and environmental protection.

Robust design of sliding mode control for airship trajectory tracking with uncertainty and disturbance estimation

The robotic airship can provide a promising aerostatic platform for many potential applications.These applications require a precise autonomous trajectory tracking control for airship.Airship has a nonlinear and uncertain dynamics.It is prone to wind disturbances that offer a challenge for a trajectory tracking control design.This paper addresses the airship trajectory tracking problem having time varying reference path.A lumped parameter estimation approach under model uncertainties and wind disturbances is opted against distributed parameters.It uses extended Kalman filter(EKF)for uncertainty and disturbance estimation.The estimated parameters are used by sliding mode controller(SMC)for ultimate control of airship trajectory tracking.This comprehensive algorithm,EKF based SMC(ESMC),is used as a robust solution to track airship trajectory.The proposed estimator provides the estimates of wind disturbances as well as model uncertainty due to the mass matrix variations and aerodynamic model inaccuracies.The stability and convergence of the proposed method are investigated using the Lyapunov stability analysis.The simulation results show that the proposed method efficiently tracks the desired trajectory.The method solves the stability,convergence,and chattering problem of SMC under model uncertainties and wind disturbances.

Integrated design and performance optimization of three-electrode sliding discharge plasma power supply

The three-electrode sliding dielectric barrier discharge(TES-DBD) plasma actuator significantly enhances the ionization rate and momentum exchange between charged particles and neutral particles by incorporating a parallel DC electrode into the standard DBD design. This design improves the body force and induced jet velocity while allowing flexible control of the induced jet angle, overcoming the limitations of discharge extension and uncontrollable direction in traditional DBD plasma actuators. An integrated plasma power supply has been designed specifically for TES-DBD plasma actuators, streamlining the power supply management. The methodology involves designing the circuit topology for the TES-DBD power supply, followed by simulating and validating its operating principles using Multisim software. The operational performance of the power supply is evaluated through a comprehensive analysis of its electrical,thermal, and aerodynamic properties specific to TES-DBD plasma actuation.

Sliding Mode Fault-tolerant Control Based on Fast Convergence Law for Faults of PMSM

It is difficult for the traditional PI controller to meet high-performance control requirements under the demagnetization fault of a permanent magnet synchronous motor(PMSM).To address this problem,this study proposes a novel sliding mode fault-tolerant control method for PMSM demagnetization faults.First,the mathematical model of PMSM under demagnetization fault state is established,and the reasons for poor fault tolerance of the conventional PI controller are analyzed.A new convergence law is used to design the speed loop sliding mode feedback controller,and its stability is demonstrated.Meanwhile,an adaptive forgetting factor recursive least squares(AFRLS)flux linkage observer is designed to keep the controller parameter values in line with the actual motor parameter values,to reduce the impact of demagnetization faults on motor control performance and achieve fault-tolerant control of demagnetization faults.Finally,simulation and experimental comparison with conventional PI control demonstrate that the proposed method is more robust and resistant to interference.

An improved YOLOv7 for the state identification of sliding chairs in railway turnout

The sliding chairs are important components that support the switch rail conversion in the railway turnout.Due to the harsh environmental erosion and the attack from the wheel vibration,the failure rate of the sliding chairs accounts for up to 10%of the total failure number in turnout.However,there is little research carried out in the existing literature to diagnose the deterioration states of the sliding chairs.To fill out this gap,by utilizing the images containing the sliding chairs,we propose an improved You Only Look Once version 7(YOLOv7)to identify the state of the sliding chairs.Specifically,to meet the challenge brought by the small inter-class differences among the sliding chair states,we first integrate the Convolutional Block Attention Module(CBAM)into the YOLOv7 backbone to screen the information conducive to state identification.Then,an extra detector for a small object is customized into the YOLOv7 network in order to detect the small-scale sliding chairs in images.Meanwhile,we revise the localization loss in the objective function as the Efficient Intersection over Union(EIoU)to optimize the design of the aspect ratio,which helps the localization of the sliding chairs.Next,to address the issue caused by the varying scales of the sliding chairs,we employ K-means++to optimize the priori selection of the initial anchor boxes.Finally,based on the images collected from real-world turnouts,the proposed method is verified and the results show that our method outperforms the basic YOLOv7 in the state identification of the sliding chairs with 4%improvements in terms of both mean Average Precision@0.5(mAP@0.5)and F1-score.

Enhanced Fuzzy Logic Control Model and Sliding Mode Based on Field Oriented Control of Induction Motor

In the context of induction motor control, there are various control strategies used to separately control torque and flux. One common approach is known as Field-Oriented Control (FOC). This technique involves transforming the three-phase currents and voltages into a rotating reference frame, commonly referred to as the “dq” frame. In this frame, the torque/speed and flux components are decoupled, allowing for independent control, by doing so, the motor’s speed can be regulated accurately and maintain a constant flux which is crucial to ensure optimal motor performance and efficiency. The research focused on studying and simulating a field-oriented control system using fuzzy control techniques for an induction motor. The aim was to address the issue of parameter variations, particularly the change in rotor resistance during motor operation, which causes the control system to deviate from the desired direction. This deviation implies to an increase in the magnetic flux value, specifically the flux component on the q-axis. By employing fuzzy logic techniques to regulate flux vector’s components in the dq frame, this problem was successfully resolved, ensuring that the magnetic flux value remains within the nominal limits. To enhance the control system’s performance, response speed, and efficiency of the motor, sliding mode controllers were implemented to regulate the current in the inner loop. The simulation results demonstrated the proficiency of the proposed methodology.

Experimental Observation of Current-driven Antiskyrmion Sliding

Prof.ZHANG Ying’s group at the Institute of Physics(IOP),Chinese Academy of Sciences(CAS)has teamed up with researchers from domestic universities and the Alamos National Laboratory in the United States to succeed in observing current-driven antiskyrmion sliding in experiment,and published their work entitled“Experimental observation of current-driven antiskyrmion sliding in stripe domains”was published in Nature Materials on April 11,2023.

Experimental study on slope sliding and debris flow evolution with and without barrier

A constitutive model on the evolution of debris flow with and without a barrier was established based on the theory of the Bingham model. A certain area of the Laoshan Mountain in Nanjing, Jiangsu Province, in China was chosen for experimental study, and the slope sliding and debris flow detection system was utilized. The change curve of the soil moisture content was attained, demonstrating that the moisture content of the shallow soil layer increases faster than that of the deep soil layer, and that the growth rate of the soil moisture content of the steep slope is large under the first weak rainfall, and that of the gentle slope is significantly affected by the second heavy rainfall. For the steep slope, slope sliding first occurs on the upper slope surface under heavy rainfall and further develops along the top platform and lower slope surface, while under weak rainfall the soil moisture content at the lower part of the slope first increases because of the high runoff velocity, meaning that failure occurring there is more serious. When a barrier was placed at a high position on a slope, debris flow was separated and distributed early and had less ability to carry solids, and the variation of the greatest depth of erosion pits on soil slopes was not significant.

Shear sliding of rough-walled fracture surfaces under unloading normal stress

Through high-precision engraving,self-affine sandstone joint surfaces with various joint roughness coefficients(JRC=3.21e12.16)were replicated and the shear sliding tests under unloading normal stress were conducted regarding various initial normal stresses(1e7 MPa)and numbers of shearing cycles(1 e5).The peak shear stress of fractures decreased with shear cycles due to progressively smooth surface morphologies,while increased with both JRC and initial normal stress and could be verified using the nonlinear Barton-Bandis failure criterion.The joint friction angle of fractures exponentially increased by 62.22%e64.87%with JRC while decreased by 22.1%e24.85%with shearing cycles.After unloading normal stress,the sliding initiation time of fractures increased with both JRC and initial normal stress due to more tortuous fracture morphologies and enhanced shearing resistance capacity.The surface resistance index(SRI)of fractures decreased by 4.35%e32.02%with increasing shearing cycles due to a more significant reduction of sliding initiation shear stress than that for sliding initiation normal stress,but increased by a factor of 0.41e1.64 with JRC.After sliding initiation,the shear displacement of fractures showed an increase in power function.By defining a sliding rate threshold of 5105 m/s,transition from“quasi-static”to“dynamic”sliding of fractures was identified,and the increase of sliding acceleration steepened with JRC while slowed down with shearing cycles.The normal displacement experienced a slight increase before shear sliding due to deformation recovery as the unloading stress was unloaded,and then enhanced shear dilation after sliding initiation due to climbing effects of surface asperities.Dilation was positively related to the shear sliding velocity of fractures.Wear characteristics of the fracture surfaces after shearing failure were evaluated using binary calculation,indicating an increasing shear area ratio by 45.24%e91.02%with normal stress.