Nonsingular fractional-order integral fast-terminal sliding mode control for underactuated shipboard cranes
Lack of actuators creates many challenges in controlling underactuated systems. Additional difficulty arises when underactuated systems are subject to actuator faults, parametric uncertainties, and disturbances. We develop an adaptive robust controller for such systems by combining various advanced...
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| Published in | Journal of the Franklin Institute Vol. 359; no. 13; pp. 6587 - 6606 |
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| Main Authors | , , , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier Ltd
01.09.2022
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| Online Access | Get full text |
| ISSN | 0016-0032 1879-2693 |
| DOI | 10.1016/j.jfranklin.2022.07.022 |
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| Abstract | Lack of actuators creates many challenges in controlling underactuated systems. Additional difficulty arises when underactuated systems are subject to actuator faults, parametric uncertainties, and disturbances. We develop an adaptive robust controller for such systems by combining various advanced techniques with many benefits. The core of the controller, which is based on nonsingular integral fast-terminal sliding mode, ensures high robustness and quick finite-time convergence, reduces chattering, and prevents singularity. Fault-tolerant control provides good fault compensation. Fractional derivatives make the control structure flexible because fractional orders are adjustable gains. Self-tuning control creates an adaption mechanism that endows the system an intelligent behavior. Two layers of the sliding mode that contain fractional derivative, terminal power, and definite integral ensure terminal Mittag–Leffer stability. We test the proposed approach on an underactuated floating crane through a simulation and an experiment. A comparison with other methods shows the superiority of our approach. |
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| AbstractList | Lack of actuators creates many challenges in controlling underactuated systems. Additional difficulty arises when underactuated systems are subject to actuator faults, parametric uncertainties, and disturbances. We develop an adaptive robust controller for such systems by combining various advanced techniques with many benefits. The core of the controller, which is based on nonsingular integral fast-terminal sliding mode, ensures high robustness and quick finite-time convergence, reduces chattering, and prevents singularity. Fault-tolerant control provides good fault compensation. Fractional derivatives make the control structure flexible because fractional orders are adjustable gains. Self-tuning control creates an adaption mechanism that endows the system an intelligent behavior. Two layers of the sliding mode that contain fractional derivative, terminal power, and definite integral ensure terminal Mittag–Leffer stability. We test the proposed approach on an underactuated floating crane through a simulation and an experiment. A comparison with other methods shows the superiority of our approach. |
| Author | Nho, Luong Cong Trieu, Pham Van Tuan, Le Anh Cuong, Hoang Manh Thai, Nguyen Van Dong, Hoang Quoc Viet, Tran Xuan Nam, Tran The |
| Author_xml | – sequence: 1 givenname: Hoang Manh surname: Cuong fullname: Cuong, Hoang Manh organization: Vietnam Maritime University, Vietnam – sequence: 2 givenname: Nguyen Van surname: Thai fullname: Thai, Nguyen Van organization: CRAN Laboratory, University of Lorraine, France – sequence: 3 givenname: Pham Van surname: Trieu fullname: Trieu, Pham Van organization: Vietnam Maritime University, Vietnam – sequence: 4 givenname: Hoang Quoc surname: Dong fullname: Dong, Hoang Quoc organization: Vietnam Maritime University, Vietnam – sequence: 5 givenname: Tran The surname: Nam fullname: Nam, Tran The organization: Vietnam Maritime University, Vietnam – sequence: 6 givenname: Tran Xuan orcidid: 0000-0003-0623-9541 surname: Viet fullname: Viet, Tran Xuan organization: Vietnam Maritime University, Vietnam – sequence: 7 givenname: Luong Cong surname: Nho fullname: Nho, Luong Cong organization: Vietnam Maritime University, Vietnam – sequence: 8 givenname: Le Anh orcidid: 0000-0003-0208-9478 surname: Tuan fullname: Tuan, Le Anh email: tuanla.ck@vimaru.edu.vn organization: Vietnam Maritime University, Vietnam |
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