article

Finite-Time Sliding Mode Trajectory Tracking Control of Uncertain Mechanical Systems

Authors:

Zewei ZhengAuthors Info & Claims

Asian Journal of Control, Volume 19, Issue 1

Pages 399 - 404

https://doi.org/10.1002/asjc.1377

Published: 01 January 2017 Publication History

Abstract

The problem of finite-time tracking control is studied for uncertain nonlinear mechanical systems. To achieve finite-time convergence of tracking errors, a simple linear sliding surface based on polynomial reference trajectory is proposed to enable the trajectory tracking errors to converge to zero in a finite time, which is assigned arbitrarily in advance. The sliding mode control technique is employed in the development of the finite-time controller to guarantee the excellent robustness of the closed-loop system. The proposed sliding mode scheme eliminates the reaching phase problem, so that the closed-loop system always holds the invariance property to parametric uncertainties and external disturbances. Lyapunov stability analysis is performed to show the global finite-time convergence of the tracking errors. A numerical example of a rigid spacecraft attitude tracking problem demonstrates the effectiveness of the proposed controller.

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Cited By

Abdul Zahra AAbdalla T(2021)Design of Fuzzy Super Twisting Sliding Mode Control Scheme for Unknown Full Vehicle Active Suspension Systems Using an Artificial Bee Colony Optimization AlgorithmAsian Journal of Control10.1002/asjc.235223:4(1966-1981)Online publication date: 23-Jul-2021
https://dl.acm.org/doi/10.1002/asjc.2352
Gao SJing YLiu XDimirovski G(2021)Finite‐time adaptive fault‐tolerant control for rigid spacecraft attitude trackingAsian Journal of Control10.1002/asjc.227723:2(1003-1024)Online publication date: 1-Mar-2021
https://dl.acm.org/doi/10.1002/asjc.2277
Sun LLiu Y(2020)Fixed‐time adaptive sliding mode trajectory tracking control of uncertain mechanical systemsAsian Journal of Control10.1002/asjc.210922:5(2080-2089)Online publication date: 14-Sep-2020
https://dl.acm.org/doi/10.1002/asjc.2109
Show More Cited By

Index Terms

Finite-Time Sliding Mode Trajectory Tracking Control of Uncertain Mechanical Systems
1. Computing methodologies
  1. Artificial intelligence
    1. Control methods
      1. Computational control theory

Index terms have been assigned to the content through auto-classification.

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cover image Asian Journal of Control

Asian Journal of Control Volume 19, Issue 1

January 2017

414 pages

ISSN:1561-8625

EISSN:1934-6093

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John Wiley & Sons, Inc.

United States

Publication History

Published: 01 January 2017

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Cited By

Abdul Zahra AAbdalla T(2021)Design of Fuzzy Super Twisting Sliding Mode Control Scheme for Unknown Full Vehicle Active Suspension Systems Using an Artificial Bee Colony Optimization AlgorithmAsian Journal of Control10.1002/asjc.235223:4(1966-1981)Online publication date: 23-Jul-2021
https://dl.acm.org/doi/10.1002/asjc.2352
Gao SJing YLiu XDimirovski G(2021)Finite‐time adaptive fault‐tolerant control for rigid spacecraft attitude trackingAsian Journal of Control10.1002/asjc.227723:2(1003-1024)Online publication date: 1-Mar-2021
https://dl.acm.org/doi/10.1002/asjc.2277
Sun LLiu Y(2020)Fixed‐time adaptive sliding mode trajectory tracking control of uncertain mechanical systemsAsian Journal of Control10.1002/asjc.210922:5(2080-2089)Online publication date: 14-Sep-2020
https://dl.acm.org/doi/10.1002/asjc.2109
Wei CCai YZhang KWang ZYu W(2020)Novel Optimal Design Approach for Output‐Feedback H∞ Control of Vehicle Active Seat‐Suspension SystemAsian Journal of Control10.1002/asjc.188722:1(411-422)Online publication date: 24-Jan-2020
https://dl.acm.org/doi/10.1002/asjc.1887
Zhao ZLi SYang J(2019)Continuous Finite‐Time Sliding Mode Control for Uncertain Nonlinear Systems with Applications to DC‐DC Buck ConvertersAsian Journal of Control10.1002/asjc.191421:1(312-322)Online publication date: 21-Feb-2019
https://dl.acm.org/doi/10.1002/asjc.1914
Zhang CWang JZhang DShao X(2019)Synchronization and Tracking of Multi‐Spacecraft Formation Attitude Control Using Adaptive Sliding ModeAsian Journal of Control10.1002/asjc.177521:2(832-846)Online publication date: 24-Mar-2019
https://dl.acm.org/doi/10.1002/asjc.1775
Li YCai BSong XChu XSu B(2019)Modeling of Maglev Yaw System of Wind Turbines and its Robust Trajectory Tracking Control in the Levitating and Landing Process Based on NdobAsian Journal of Control10.1002/asjc.176421:2(770-782)Online publication date: 24-Mar-2019
https://dl.acm.org/doi/10.1002/asjc.1764
Mo HFarid G(2019)Nonlinear and Adaptive Intelligent Control Techniques for Quadrotor UAV – A SurveyAsian Journal of Control10.1002/asjc.175821:2(989-1008)Online publication date: 24-Mar-2019
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Wan MTian QWang M(2018)Adaptive Sliding Mode Control of Robot Manipulator Based on Second Order Approximation Accuracy and Decomposed Fuzzy CompensatorWireless Personal Communications: An International Journal10.1007/s11277-018-5421-2103:2(1207-1218)Online publication date: 1-Nov-2018
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Wu EYang XXu CAlsaadi FHayat T(2018)Finite‐Time Synchronization of Complex‐Valued Delayed Neural Networks with Discontinuous ActivationsAsian Journal of Control10.1002/asjc.172520:6(2237-2247)Online publication date: 22-Nov-2018
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