Pub Date : 2021-07-30DOI: 10.1109/ICCSSE52761.2021.9545162
Yue Zhang, Peng Huang, Pan Zhang, Yawu Wang
This paper proposes the modeling and tracking control methods for the dielectric elastomer actuator (DEA). A dynamic model of the DEA is built, which is composed of an asymmetric hysteresis model, a creep model and a linear system. To compensate the hysteresis and creep nonlinearities of the DEA, an inverse compensation feedforward controller (ICFC) is designed based on the creep model and the inverse of the asymmetric hysteresis model. Besides, an extended state observer (ESO) is designed to estimate the unmeasurable state of the DEA, as well as uncertainties including the modeling errors, parameter perturbations and external disturbances. Then, a sliding mode feedback controller (SMFC) is designed cooperating with the ICFC to realize the high precision tracking control of the DEA. The convergence of the ESO and the whole control system are proved through the Lyapunov method. Finally, some experiments are executed to verify the effectiveness of the proposed modeling and control methods.
{"title":"Modeling and Tracking Control for Dielectric Elastomer Actuator with Sliding Mode Feedback Controller","authors":"Yue Zhang, Peng Huang, Pan Zhang, Yawu Wang","doi":"10.1109/ICCSSE52761.2021.9545162","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545162","url":null,"abstract":"This paper proposes the modeling and tracking control methods for the dielectric elastomer actuator (DEA). A dynamic model of the DEA is built, which is composed of an asymmetric hysteresis model, a creep model and a linear system. To compensate the hysteresis and creep nonlinearities of the DEA, an inverse compensation feedforward controller (ICFC) is designed based on the creep model and the inverse of the asymmetric hysteresis model. Besides, an extended state observer (ESO) is designed to estimate the unmeasurable state of the DEA, as well as uncertainties including the modeling errors, parameter perturbations and external disturbances. Then, a sliding mode feedback controller (SMFC) is designed cooperating with the ICFC to realize the high precision tracking control of the DEA. The convergence of the ESO and the whole control system are proved through the Lyapunov method. Finally, some experiments are executed to verify the effectiveness of the proposed modeling and control methods.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124617760","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-07-30DOI: 10.1109/ICCSSE52761.2021.9545114
Hongxu Zhang, Jun Hu, Xiaoyang Yu, Dongyan Chen
This paper focuses on the sliding mode fault-tolerant control (SMFTC) problem for a class of delayed nonlinear systems in presence of actuator fault and nonlinear input. Firstly, the augmented strategy involving system state, actuator fault and external disturbance is constructed, and then the fault-tolerant observer is designed accordingly. An SMFTC law ensuring the asymptotical stability of the reduce-order estimation error is provided subsequently. To further illustrate the system performance, a new sliding function with respect to decomposed signal is constructed and the asymptotically stability of sliding motion is analyzed. Moreover, a novel adaptive-based sliding mode controller is presented to steer the system state onto the sliding manifold. Finally, a verification example is considered to demonstrate the usefulness of the proposed SMFTC approach.
{"title":"Adaptive Sliding-Mode Fault Tolerant Control for Delayed Nonlinear Systems with Actuator Fault","authors":"Hongxu Zhang, Jun Hu, Xiaoyang Yu, Dongyan Chen","doi":"10.1109/ICCSSE52761.2021.9545114","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545114","url":null,"abstract":"This paper focuses on the sliding mode fault-tolerant control (SMFTC) problem for a class of delayed nonlinear systems in presence of actuator fault and nonlinear input. Firstly, the augmented strategy involving system state, actuator fault and external disturbance is constructed, and then the fault-tolerant observer is designed accordingly. An SMFTC law ensuring the asymptotical stability of the reduce-order estimation error is provided subsequently. To further illustrate the system performance, a new sliding function with respect to decomposed signal is constructed and the asymptotically stability of sliding motion is analyzed. Moreover, a novel adaptive-based sliding mode controller is presented to steer the system state onto the sliding manifold. Finally, a verification example is considered to demonstrate the usefulness of the proposed SMFTC approach.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129123365","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-07-30DOI: 10.1109/ICCSSE52761.2021.9545200
Loai A. Elmahdi, Yuanming Xu, E. Khalil
This study aims to provide a robust and rapid design tool to be used in the sizing of the aerodynamic surfaces of an air vehicle. This tool aims to find a globally optimum aerodynamic configuration during the considered conceptual design phase. The considered tool is composed of an aerodynamic prediction module, a three-degree of freedom trajectory simulation module, and a multi-objective genetic optimization algorithm (MOGA). A robust interactive objective-normalization approach is applied. The tool is tested, and the designed fin dimensions and aerodynamic characteristics of the missile are compared with an available designed one. The design case study introduced, and the results show that the proposed tool introduces a robust aerodynamic configuration that can be introduced to the preliminary design phase. That is thanks to the used reliable aerodynamic prediction code results as well as multi-objective optimization of trajectory parameters using a suitable normalization technique.
{"title":"Integrated Design Tool for Conceptual Design of Aerodynamic Surfaces Based on Multi-objective Genetic Algorithm","authors":"Loai A. Elmahdi, Yuanming Xu, E. Khalil","doi":"10.1109/ICCSSE52761.2021.9545200","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545200","url":null,"abstract":"This study aims to provide a robust and rapid design tool to be used in the sizing of the aerodynamic surfaces of an air vehicle. This tool aims to find a globally optimum aerodynamic configuration during the considered conceptual design phase. The considered tool is composed of an aerodynamic prediction module, a three-degree of freedom trajectory simulation module, and a multi-objective genetic optimization algorithm (MOGA). A robust interactive objective-normalization approach is applied. The tool is tested, and the designed fin dimensions and aerodynamic characteristics of the missile are compared with an available designed one. The design case study introduced, and the results show that the proposed tool introduces a robust aerodynamic configuration that can be introduced to the preliminary design phase. That is thanks to the used reliable aerodynamic prediction code results as well as multi-objective optimization of trajectory parameters using a suitable normalization technique.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131758682","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-07-30DOI: 10.1109/ICCSSE52761.2021.9545172
Sario Angel Chamorro Quijano, Jean Pierre Arce Misajel, Dominick Marco Cruz Esteban, Roberto Belarmino Quispe Cabana, Ruth Aracelis Manzanares Grados
This research presents the design and control of a biodigester with mechatronic systems for control and a closed system of controlled compression to reduce the times in the generation of biogas. The development of the project shows that the application of level sensors, electro valves, and exhaust ducts are feasible in each tank through a control panel in order to monitor each process. The acceleration stage to obtain biogas consists of a closed system type cylinder-piston, to perform a controlled compression reducing fermentation times, additionally it was considered that the drive of this cylinder is mechanical type due to the limited access of electrical energy in rural areas. The control and design of the proposed system will provide multiple improvements in homes in rural Peruvian areas that require solutions based on better use of natural resources with the waste generated by livestock, use of energy reducing pollution to their environment, creating access to energy generation, and the possibility of reducing diseases due to the consumption of polluting fuels during the preparation of their food.
{"title":"Design of an Automatic System of an Accelerated Biogas Biodigester for Rural Areas in Peru","authors":"Sario Angel Chamorro Quijano, Jean Pierre Arce Misajel, Dominick Marco Cruz Esteban, Roberto Belarmino Quispe Cabana, Ruth Aracelis Manzanares Grados","doi":"10.1109/ICCSSE52761.2021.9545172","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545172","url":null,"abstract":"This research presents the design and control of a biodigester with mechatronic systems for control and a closed system of controlled compression to reduce the times in the generation of biogas. The development of the project shows that the application of level sensors, electro valves, and exhaust ducts are feasible in each tank through a control panel in order to monitor each process. The acceleration stage to obtain biogas consists of a closed system type cylinder-piston, to perform a controlled compression reducing fermentation times, additionally it was considered that the drive of this cylinder is mechanical type due to the limited access of electrical energy in rural areas. The control and design of the proposed system will provide multiple improvements in homes in rural Peruvian areas that require solutions based on better use of natural resources with the waste generated by livestock, use of energy reducing pollution to their environment, creating access to energy generation, and the possibility of reducing diseases due to the consumption of polluting fuels during the preparation of their food.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128178323","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-07-30DOI: 10.1109/ICCSSE52761.2021.9545147
Muhammad Atif, Zarrar Haider, M. M. Zohaib, M. Raza
Tilt-rotor unmanned aircraft vehicles have gathered decent attention recently due to their vertical takeoff and landing capability, and also due to their high cruising speed. This paper focuses mainly on control systems design, simulation and practical implementation of T-shaped tilt-rotor tri-copter. The tilt-rotor mechanism of tri-copter gives the advantage to have rotational motion in both clockwise and anti-clockwise direction. The author discusses mathematical modeling of the overall system, which comprises of equations related to force, moment and orientation. Control system of tri-copter was designed in MATLAB using the standard state-space representation. In addition, the author also shares information regarding the hardware implementation of the tri-copter, and also about the test benches devised in lab for verifying and improving algorithms along the research path. Stabilization of tri-copter was accomplished through PID controller implementation on the physical systems for roll, pitch, yaw and height. Moreover, research work also includes hardware establishment of ground control station which was designed and implemented in LabVIEW for telemetry data and video transfer.
{"title":"Embedded and Control Systems Design and Implementation of T-Shaped Tilt-Rotor Tri-copter","authors":"Muhammad Atif, Zarrar Haider, M. M. Zohaib, M. Raza","doi":"10.1109/ICCSSE52761.2021.9545147","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545147","url":null,"abstract":"Tilt-rotor unmanned aircraft vehicles have gathered decent attention recently due to their vertical takeoff and landing capability, and also due to their high cruising speed. This paper focuses mainly on control systems design, simulation and practical implementation of T-shaped tilt-rotor tri-copter. The tilt-rotor mechanism of tri-copter gives the advantage to have rotational motion in both clockwise and anti-clockwise direction. The author discusses mathematical modeling of the overall system, which comprises of equations related to force, moment and orientation. Control system of tri-copter was designed in MATLAB using the standard state-space representation. In addition, the author also shares information regarding the hardware implementation of the tri-copter, and also about the test benches devised in lab for verifying and improving algorithms along the research path. Stabilization of tri-copter was accomplished through PID controller implementation on the physical systems for roll, pitch, yaw and height. Moreover, research work also includes hardware establishment of ground control station which was designed and implemented in LabVIEW for telemetry data and video transfer.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127278888","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The heavy-tailed non-Gaussian noise often appears in the actual system and the classical cubature Kalman filter (CKF) algorithm will have reduced filtering accuracy or even filtering divergence in this condition. To make the CKF algorithm more robust, the centered error entropy cubature Kalman filter (CEECKF) algorithm is derived by combining the Spherical-Radial cubature rule and the centered error entropy (CEE) criterion. The proposed algorithm uses the cubature rule to obtain the one-step prediction state mean and covariance and then uses the CEE criterion to update the posterior state. The application in attitude determination shows the effectiveness of the algorithm.
{"title":"A New Robust Centered Error Entropy Cubature Kalman Filter","authors":"Baojian Yang, Lu Cao, Lingwei Li, Chen Jiang, Dechao Ran, Bing Xiao","doi":"10.1109/ICCSSE52761.2021.9545184","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545184","url":null,"abstract":"The heavy-tailed non-Gaussian noise often appears in the actual system and the classical cubature Kalman filter (CKF) algorithm will have reduced filtering accuracy or even filtering divergence in this condition. To make the CKF algorithm more robust, the centered error entropy cubature Kalman filter (CEECKF) algorithm is derived by combining the Spherical-Radial cubature rule and the centered error entropy (CEE) criterion. The proposed algorithm uses the cubature rule to obtain the one-step prediction state mean and covariance and then uses the CEE criterion to update the posterior state. The application in attitude determination shows the effectiveness of the algorithm.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129002261","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents a new type of surgical robot instrument based on a flexible continuous wrist joint using cable-driven mechanism. The flexible joint mechanism is integrated by super-elastic nylon and fiber materials. It is composed of a series of hollow square structural units spirally superimposed. The structure of the overall system is introduced with performing finite element analysis on flexible bodies, and analyzing the design of the flexible joint using the square leaf spring configuration. Then the kinematics analysis of the flexible body is carried out to obtain the end pose and the reachable space of coordinated movement. An experimental prototype of the surgical robot instrument has been made with five miniature linear servo drivers.
{"title":"Design, Analysis and Development of a New Surgical Instrument Based on Flexible Continuum Mechanism for Minimally Invasive Surgical Robot","authors":"Menghao Tian, Sanqiang Feng, Xun Wei, Ruihan Lin, Changqing Zhao, Zhipeng Lin, Qi Li, Zhengyu Wang","doi":"10.1109/ICCSSE52761.2021.9545202","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545202","url":null,"abstract":"This paper presents a new type of surgical robot instrument based on a flexible continuous wrist joint using cable-driven mechanism. The flexible joint mechanism is integrated by super-elastic nylon and fiber materials. It is composed of a series of hollow square structural units spirally superimposed. The structure of the overall system is introduced with performing finite element analysis on flexible bodies, and analyzing the design of the flexible joint using the square leaf spring configuration. Then the kinematics analysis of the flexible body is carried out to obtain the end pose and the reachable space of coordinated movement. An experimental prototype of the surgical robot instrument has been made with five miniature linear servo drivers.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125034611","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-07-30DOI: 10.1109/ICCSSE52761.2021.9545149
Zikang Li, Hongzhi Xu, Xiuyu Zhang, Feng Shu, Zhi Li
Butterfly hysteresis effects are complicated nonlinear behaviors. In comparison with single-loop hysteresis behaviors, butterfly hysteresis loops are composed of two single hysteresis loops and the directions of the butterfly hysteresis loop include both clockwise and counter-clockwise. Therefore, it brings a great challenge to build a proper model to describe the butterfly hysteresis behaviors, since most available hysteresis models are applied to describe the single-loop hysteresis. To solve this problem, a modified Bouc-Wen model with an absolute excitation function and modified elastic polynomials is developed in this paper. Experimental results are carried out via a dielectric elastomer actuator (DEA) to validate the effectiveness of the proposed model.
{"title":"Development of a Modified Bouc-Wen Model for Butterfly Hysteresis Behaviors","authors":"Zikang Li, Hongzhi Xu, Xiuyu Zhang, Feng Shu, Zhi Li","doi":"10.1109/ICCSSE52761.2021.9545149","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545149","url":null,"abstract":"Butterfly hysteresis effects are complicated nonlinear behaviors. In comparison with single-loop hysteresis behaviors, butterfly hysteresis loops are composed of two single hysteresis loops and the directions of the butterfly hysteresis loop include both clockwise and counter-clockwise. Therefore, it brings a great challenge to build a proper model to describe the butterfly hysteresis behaviors, since most available hysteresis models are applied to describe the single-loop hysteresis. To solve this problem, a modified Bouc-Wen model with an absolute excitation function and modified elastic polynomials is developed in this paper. Experimental results are carried out via a dielectric elastomer actuator (DEA) to validate the effectiveness of the proposed model.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114543187","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-07-30DOI: 10.1109/ICCSSE52761.2021.9545158
Christian Bhennz Soriano, Didric Kirsten Ferrer, J. Villaverde, Dionis A. Padilla
Citrus Sinensis, a citrus fruit commonly known as sweet orange that, when processed at a small scale or industrial level, produces a massive amount of waste after processing. Over the years, citrus peels that are rejected for exports are used as natural fertilizers with the benefit of minimizing citrus peel waste. The methods used to reduce waste in this industry remain inadequate. This study introduces an environmentally safe approach that utilizes peels from rejected oranges for biopolymers. The objective of the study is to create a system that will capture the surface color of oranges and classify if the fruit can be used for extraction of biopolymer using image processing by converting the RGB image to HSV color space in OpenCV. The probability distribution function method was used as a basis for color classification and produced an accuracy of 92%.
{"title":"Classification of Citrus Sinensis Peel for Production of Biopolymers Using Probability Distribution Function","authors":"Christian Bhennz Soriano, Didric Kirsten Ferrer, J. Villaverde, Dionis A. Padilla","doi":"10.1109/ICCSSE52761.2021.9545158","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545158","url":null,"abstract":"Citrus Sinensis, a citrus fruit commonly known as sweet orange that, when processed at a small scale or industrial level, produces a massive amount of waste after processing. Over the years, citrus peels that are rejected for exports are used as natural fertilizers with the benefit of minimizing citrus peel waste. The methods used to reduce waste in this industry remain inadequate. This study introduces an environmentally safe approach that utilizes peels from rejected oranges for biopolymers. The objective of the study is to create a system that will capture the surface color of oranges and classify if the fruit can be used for extraction of biopolymer using image processing by converting the RGB image to HSV color space in OpenCV. The probability distribution function method was used as a basis for color classification and produced an accuracy of 92%.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122092887","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-07-30DOI: 10.1109/ICCSSE52761.2021.9545119
Yuanhui Wang, Haibin Wang, Xiaoyun Zhang, Jingjing Li
This paper presents the problem of trajectory tracking prescribed performance control for dynamic positioning vessels (DPV) using the combination of second-order fast nonsingular terminal sliding mode control (SOFNTSMC) and adaptive neural networks (ANN). First, a simplified mathematical model of the DPV is built to describe the dynamics. Then, a new-type prescribed performance function is proposed, which can achieve convergence at a specified time and relieve the saturation of control input. In addition, the SOFNTSMC and the ANN are employed to handle the uncertain disturbances and unknown model parameters of the system, which not only solves the chattering phenomenon of control input but also achieves faster convergence rate and tracking accuracy better. Subsequently, with the Lyapunov stability theory, all the signals of the closed-loop system can be achieved to stable in finite time. Finally, numerical simulations are presented to illustrate the effectiveness of the proposed method.
{"title":"Prescribed Performance Control for Dynamic Positioning Vessels Based on Adaptive Second-Order Fast Nonsingular Terminal Sliding Mode","authors":"Yuanhui Wang, Haibin Wang, Xiaoyun Zhang, Jingjing Li","doi":"10.1109/ICCSSE52761.2021.9545119","DOIUrl":"https://doi.org/10.1109/ICCSSE52761.2021.9545119","url":null,"abstract":"This paper presents the problem of trajectory tracking prescribed performance control for dynamic positioning vessels (DPV) using the combination of second-order fast nonsingular terminal sliding mode control (SOFNTSMC) and adaptive neural networks (ANN). First, a simplified mathematical model of the DPV is built to describe the dynamics. Then, a new-type prescribed performance function is proposed, which can achieve convergence at a specified time and relieve the saturation of control input. In addition, the SOFNTSMC and the ANN are employed to handle the uncertain disturbances and unknown model parameters of the system, which not only solves the chattering phenomenon of control input but also achieves faster convergence rate and tracking accuracy better. Subsequently, with the Lyapunov stability theory, all the signals of the closed-loop system can be achieved to stable in finite time. Finally, numerical simulations are presented to illustrate the effectiveness of the proposed method.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122123472","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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