Design of a Non-Singular Adaptive Integral-Type Finite Time Tracking Control for Nonlinear Systems with External Disturbances

Journal article

Authors/Editors

WUDHICHAI ASSAWINCHAICHOTE

Strategic Research Themes

Other (Strategic Research Themes)

Publication Details

Author list: Alattas K.A., Mobayen S., DIn S.U., Asad J.H., Fekih A., Assawinchaichote W., Vu M.T.

Publisher: Institute of Electrical and Electronics Engineers

Publication year: 2021

Volume number: 9

Start page: 102091

End page: 102103

Number of pages: 13

ISSN: 2169-3536

eISSN: 2169-3536

URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85111072513&doi=10.1109%2fACCESS.2021.3098327&partnerID=40&md5=047d5170357c51dfd3617cfdd52c07a9

Languages: English-Great Britain (EN-GB)

View in Web of Science | View on publisher site | View citing articles in Web of Science

Abstract

This paper proposes an adaptive non-singular fast terminal sliding mode control (FTSMC) with integral surface for the finite time tracking control of nonlinear systems with external disturbances. An appropriate parameter-tuning adaptation law is derived to tackle the disturbances. A new fast terminal sliding scheme with self-tuning algorithm is proposed to synthesize the adaptive non-singular fast integral terminal sliding approach. The proposed approach has the following features: 1) It does not require the derivative of the fractional power terms with respect to time, thereby eschewing the singularity problem typically associated with TSMC; 2) It guarantees the existence of the switching phase under exogenous disturbances with unknown bounds; 3) Because of the integral terms in the sliding surface, the power functions are hidden behind the integrator; 4) It ensures chattering-free dynamics. The effectiveness of the proposed approach is assessed using both a simulation and an experimental study. The obtained results showed that the FTSM control technique guarantees that when the switching surface is reached, tracking errors converge to zero at a fast convergence rate. Additionally, the integral term offers one extra degree-of-freedom and since the time-derivative of fractional power terms is not needed in the controller, the proposed switching surface provides a comprehensive framework for singularity avoidance. © 2013 IEEE.

Keywords

integral sliding surface, Non-singular control