Adaptive Finite-Time Sliding Mode Backstepping Controller for Double-Integrator Systems with Mismatched Uncertainties and External Disturbances
In this paper, a novel adaptive finite-time sliding mode backstepping (AFSMBS) control scheme is suggested to control a type of high-order double-integrator systems with mismatched disturbances and uncertainties. A robust sliding mode backstepping control method, adaptive control method, and finite-...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Published: |
Hindawi Limited
2023
|
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1833411257467666432 |
|---|---|
| author | Alinaghi Hosseinabadi P. Soltani Sharif Abadi A. Pota H. Vaidyanathan S. Mekhilef S. |
| author2 | 57223136070 |
| author_facet | 57223136070 Alinaghi Hosseinabadi P. Soltani Sharif Abadi A. Pota H. Vaidyanathan S. Mekhilef S. |
| author_sort | Alinaghi Hosseinabadi P. |
| building | UNITEN Library |
| collection | Institutional Repository |
| content_provider | Universiti Tenaga Nasional |
| content_source | UNITEN Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | In this paper, a novel adaptive finite-time sliding mode backstepping (AFSMBS) control scheme is suggested to control a type of high-order double-integrator systems with mismatched disturbances and uncertainties. A robust sliding mode backstepping control method, adaptive control method, and finite-time stability notion are incorporated to provide a better tracking performance over applying them individually and to use their benefits simultaneously. The concept of a sliding mode is used to define a new form of a backstepping controller. The adaptive control method is utilized to adaptively estimate the upper bounds of the disturbances and uncertainties and the estimated data are used in the control low. The notion of the finite-time stability is incorporated with the suggested control scheme to ensure the system's convergence within a finite time. The stability proof is obtained for the closed-loop system in a finite time utilizing the Lyapunov stability theorem. Simulation results are obtained for an example of a remotely operated vehicle (ROV) with three degrees of freedom (3-DOF) to demonstrate the efficacy of the suggested control approach. � 2022 Pooyan Alinaghi Hosseinabadi et al. |
| format | Article |
| id | my.uniten.dspace-27158 |
| institution | Universiti Tenaga Nasional |
| publishDate | 2023 |
| publisher | Hindawi Limited |
| record_format | dspace |
| spelling | my.uniten.dspace-271582023-05-29T17:40:18Z Adaptive Finite-Time Sliding Mode Backstepping Controller for Double-Integrator Systems with Mismatched Uncertainties and External Disturbances Alinaghi Hosseinabadi P. Soltani Sharif Abadi A. Pota H. Vaidyanathan S. Mekhilef S. 57223136070 57202718966 7004130643 57191607340 57928298500 In this paper, a novel adaptive finite-time sliding mode backstepping (AFSMBS) control scheme is suggested to control a type of high-order double-integrator systems with mismatched disturbances and uncertainties. A robust sliding mode backstepping control method, adaptive control method, and finite-time stability notion are incorporated to provide a better tracking performance over applying them individually and to use their benefits simultaneously. The concept of a sliding mode is used to define a new form of a backstepping controller. The adaptive control method is utilized to adaptively estimate the upper bounds of the disturbances and uncertainties and the estimated data are used in the control low. The notion of the finite-time stability is incorporated with the suggested control scheme to ensure the system's convergence within a finite time. The stability proof is obtained for the closed-loop system in a finite time utilizing the Lyapunov stability theorem. Simulation results are obtained for an example of a remotely operated vehicle (ROV) with three degrees of freedom (3-DOF) to demonstrate the efficacy of the suggested control approach. � 2022 Pooyan Alinaghi Hosseinabadi et al. Final 2023-05-29T09:40:18Z 2023-05-29T09:40:18Z 2022 Article 10.1155/2022/3758220 2-s2.0-85133976851 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85133976851&doi=10.1155%2f2022%2f3758220&partnerID=40&md5=479268dbd491d3f4d36941a914d1ac07 https://irepository.uniten.edu.my/handle/123456789/27158 2022 3758220 All Open Access, Gold Hindawi Limited Scopus |
| spellingShingle | Alinaghi Hosseinabadi P. Soltani Sharif Abadi A. Pota H. Vaidyanathan S. Mekhilef S. Adaptive Finite-Time Sliding Mode Backstepping Controller for Double-Integrator Systems with Mismatched Uncertainties and External Disturbances |
| title | Adaptive Finite-Time Sliding Mode Backstepping Controller for Double-Integrator Systems with Mismatched Uncertainties and External Disturbances |
| title_full | Adaptive Finite-Time Sliding Mode Backstepping Controller for Double-Integrator Systems with Mismatched Uncertainties and External Disturbances |
| title_fullStr | Adaptive Finite-Time Sliding Mode Backstepping Controller for Double-Integrator Systems with Mismatched Uncertainties and External Disturbances |
| title_full_unstemmed | Adaptive Finite-Time Sliding Mode Backstepping Controller for Double-Integrator Systems with Mismatched Uncertainties and External Disturbances |
| title_short | Adaptive Finite-Time Sliding Mode Backstepping Controller for Double-Integrator Systems with Mismatched Uncertainties and External Disturbances |
| title_sort | adaptive finite-time sliding mode backstepping controller for double-integrator systems with mismatched uncertainties and external disturbances |
| url_provider | http://dspace.uniten.edu.my/ |