Mobayen Saleh, Bayat Farhad, Din Sami Ud, Vu Mai The
Future Technology Research Center, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliou, Yunlin 64002, Taiwan; Department of Electrical Engineering, University of Zanjan, Zanjan, Iran.
Department of Electrical Engineering, University of Zanjan, Zanjan, Iran.
ISA Trans. 2023 Mar;134:481-496. doi: 10.1016/j.isatra.2022.08.006. Epub 2022 Aug 17.
In this article, an adaptive non-singular terminal sliding mode controller (NTSMC) is designed based on a barrier function for the robust stability of a category of non-linear dynamic systems in the existence of the external disturbances. The planned approach implements a non-singular terminal sliding mode controller (NTSMC) to ensure robust performance with finite time convergence and singularity-free dynamics. It also uses Barrier Functions (BFs) as an adaptation approach for the NTSMC to attain the tracking errors' convergence to a pre-defined neighbourhood of origin, with a controller gain that is not over-estimated and without requiring any knowledge about the upper bounds of disturbances. The Lyapunov-based stability analysis is carried out to confirm the asymptotic convergence of tracking errors to a pre-defined neighbourhood of zero. The effectiveness and performance of the planned approach is illustrated through simulations and experiments.
在本文中，基于障碍函数设计了一种自适应非奇异终端滑模控制器（NTSMC），用于在存在外部干扰的情况下，实现一类非线性动态系统的鲁棒稳定性。所提出的方法采用非奇异终端滑模控制器（NTSMC）来确保具有有限时间收敛和无奇异性动态的鲁棒性能。它还使用障碍函数（BFs）作为NTSMC的一种自适应方法，以使跟踪误差收敛到预先定义的原点邻域，且控制器增益不过高估计，并且无需任何关于干扰上界的知识。进行了基于李雅普诺夫的稳定性分析，以确认跟踪误差渐近收敛到预先定义的零邻域。通过仿真和实验说明了所提出方法的有效性和性能。
