Oct 2026· Transactions of the Institute of Measurement and Control· 0 citations· 14 references
Abstract
This paper presents an observer-based sliding-mode tracking control strategy for connected nonlinear servo systems with unknown disturbances. A distributed state observer is designed for each follower to estimate the leader state in finite time, since the leader information is not directly accessible to all followers. Then, a sliding mode-based disturbance observer with two-layer adaptation is introduced to compensate for unknown disturbances. Based on the observer outputs, a terminal sliding-mode tracking controller is developed, and fixed-time convergence of the terminal sliding motion is established. Finally, numerical and semi-physical experiments are conducted to verify the effectiveness of the proposed method.
This research provides an effective solution for the control of Euler–Lagrange systems by incorporating the sliding-mode control strategy and integrating a predefined-time hierarchical control algorithm and an observer-based controller to achieve predefined-time stabilization.
Ya-Qi Luan, Bo Xiao, Tao Han et al.· Transactions of the Institut...· 0 citations
This paper investigates the predefined-time attitude stabilization control of rigid spacecraft under external disturbances. A predefined-time stability criterion is established using a bounded function. A continuous predefined-time disturbance observer is designed to handle unknown disturbances without requiring the kn...
Yun-Jun Chen, Wen-Bo Yang, Jiu-Zhi Dong et al.· Transactions of the Institut...· 0 citations
This paper investigates the trajectory tracking control problem with prescribed performance for autonomous underwater vehicles (AUVs) subject to lumped disturbances composed of model uncertainties and unknown time-varying external disturbances. A practical predefined-time Lyapunov criterion is first established to char...
Yong Yu, Zhan-Kui Song, Wu-Deng Wang· Proceedings of the Instituti...· 0 citations
This paper presents a robust quadrotor attitude control method that combines feedback linearization with an enhanced highorder sliding mode disturbance observer to address issues such as channel cross-coupling, model uncertainties, and both matched and mismatched disturbances. The proposed method with a prescribed ba...
K. B. Son, C. H. Tinh· Mekhatronika Avtomatizatsiya...· 0 citations
A new control scheme is presented in this work for robotic manipulators with model inaccuracies and external disturbances. The strategy is designed in two stages. First, a nonlinear controller is designed on the basis of the nominal system model to satisfy prescribed trajectory-tracking constraints. This controller is...
Xiao-Ying Ye, Hao You, Hong Ge et al.· International Conference on...· 0 citations
In this study, we have developed a novel robust fixed-time control framework that integrates a fractional-order sliding mode control with a disturbance observer for a quadrotor UAV. The overall system dynamics are represented in a cascaded structure with two major loops: position and orientation (attitude). To facilita...
Nasser Firouzi, Younis K. Khdir· Journal of Vibration and Con...· 0 citations
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