Adaptive finite integral non-singular terminal synergetic control of nth-order nonlinear systems
Mohammadi Asl, Reza; Shabbouei Hagh, Yashar; Anavatti, Sreenatha; Handroos, Heikki (2020-03-17)
Post-print / Final draft
Mohammadi Asl, Reza
Shabbouei Hagh, Yashar
Anavatti, Sreenatha
Handroos, Heikki
17.03.2020
Mechanical Systems and Signal Processing
142
Elsevier
School of Energy Systems
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi-fe202003198560
https://urn.fi/URN:NBN:fi-fe202003198560
Tiivistelmä
This paper proposed a novel finite synergetic control scheme. This controller utilizes an integral non-singular terminal attractor technique that guarantees the finite-time convergence of the states, solves the singularity problem of a conventional terminal attractor manifold, and provides a chattering-free control signal. The principles of this controller are introduced and demonstrated for second and nth-order nonlinear systems. The stability of the controller is verified using Lyapunov stability theory. In addition, an interval type-2 fuzzy logic system is implemented to improve the overall performance of the controller. Analysis of a robotic manipulator and a servo-hydraulic actuator is used to illustrate the efficacy of the proposed Adaptive Finite Integral Non-singular Terminal Synergetic Control (AFINTSC).
Lähdeviite
R.M. Asl, Y.S. Hagh, S. Anavatti, H. Handroos, Adaptive Finite Integral Non-Singular Terminal Synergetic Control of nth-order nonlinear systems, Mechanical Systems and Signal Processing (2020), doi: https://doi.org/10.1016/j.ymssp.2020.106789
Alkuperäinen verkko-osoite
https://www.sciencedirect.com/science/article/pii/S0888327020301758?via%3DihubKokoelmat
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