Barrier function-based nonsingular prescribed performance terminal sliding mode tracker for under-actuated nonlinear systems: Experimental study |
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| Institution: | 1. School of Automation, Nanjing University of Science and Technology, 200 Xiao Ling Wei, Nanjing 210094, China;2. Department of Electrical Engineering, University of Zanjan, Zanjan, Iran;3. Department of Mechanical Engineering, University of Zanjan, Zanjan, Iran;4. Graduate School of Intelligent Data Science, National Yunlin University of Science and Technology, Douliou, Yunlin 640301, Taiwan;5. School of Intelligent Mechatronics Engineering, Sejong University, Seoul 05006, South Korea;1. School of Electrical and Automation Engineering, East China Jiaotong University, Nanchang 330013, China;2. School of Communication and Electronics, Jiangxi Science and Technology Normal University, Nanchang 330013, China;3. School of Mechano-electronic Engineering, Xidian University, Xi’an 710071, China;1. School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, PR China;2. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, PR China;3. Zhongguancun Laboratory, Beijing 100190, PR China;4. School of Electronics and Information, Northwestern Polytechnical University, Xi’an 710072, PR China;5. Institute of Artificial Intelligence, Beihang University, Beijing 100191, PR China;1. Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China;2. Department of Electrical and Computer Engineering, University of Louisiana at Lafayette, Lafayette, LA, United States;3. University of Carthage, National Institute of Applied Sciences and Technology, Tunis, Tunisia;4. Department of Engineering Design and Mathematics, University of the West of England, Bristol, United Kingdom |
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| Abstract: | In this paper, an adaptive concave barrier function scheme coupled with the non-singular terminal sliding mode control technique is proposed for finite-time tracking control of the under-actuated nonlinear system in the existence of model uncertainty, external disturbance and input saturation. Firstly, the dynamical equation of under-actuated nonlinear n-order system is expressed under model uncertainty, external disturbance and input saturation. Secondly, for the improvement of stability performance of the system in the existence of input saturation, a compensation system is designed to overcome the constraint on the control input. Afterward, the tracking errors between actual states of the system and differentiable reference signals are defined and the sliding surface based on the defined tracking errors is presented. Then, for gaining the better transient and steady-state performance of the closed-loop system, the prescribed performance control scheme is adopted. Based on this method, the transformed prescribed form of the previous determined sliding surface is obtained to ensure that the sliding surface can reach to a predefined region. Afterward, for assurance of the finite-time reachability of transformed sliding surface, the nonsingular terminal sliding surface is recommended. In addition, for the compensation of the model uncertainty and external disturbance existed in the system, the adaptive-based concave barrier function technique is used to estimate the unknown bounds of uncertainty and exterior disturbance. Finally, for demonstration of the proposed control method, the simulations and experimental implementation are done on the air levitation system. |
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