TITLE

Global fast terminal sliding mode control based on radial basis function neural network for course keeping of unmanned surface vehicle

AUTHOR(S)
Lili Wan; Yixin Su; Huajun Zhang; Yongchuan Tang; Binghua Shi
PUB. DATE
March 2019
SOURCE
International Journal of Advanced Robotic Systems;Mar/Apr2019, Vol. 16 Issue 2, p1
SOURCE TYPE
Academic Journal
DOC. TYPE
Article
ABSTRACT
A scheme to solve the course keeping problem of the unmanned surface vehicle with nonlinear and uncertain characteristics and unknown external disturbances is investigated in this article. The chattering existing in global fast terminal sliding mode controller in solving the course keeping problem of the unmanned surface vehicle with external disturbance is analyzed. To reduce the chattering and eliminate the influence of the unknown disturbance, an adaptive global fast terminal sliding mode controller based on radial basis function neural network is developed. The equivalent control that usually requires a precise model information of the system is computed using the radial basis function neural network. The weights of the neural network are online adjusted according to the adaptive law that is derived using Lyapunov method to ensure the stability of the closed-loop system. Using the online learning of the neural network, the nonlinear uncertainty of the system and the unknown disturbance of external environment are compensated, and the system chattering is reduced effectively as well. The simulation results demonstrate that the proposed controller can achieve a good performance regarding the fast response and smooth control.
ACCESSION #
136775022

 

Related Articles

  • Decentralized RBFNN Type-2 Fuzzy Sliding Mode Controller for Robot Manipulator Driven by Artificial Muscles. Amar, Rezoug; Mustapha, Hamerlain; Mohamed, Tadjine // International Journal of Advanced Robotic Systems;Nov2012, Vol. 9 Issue 11, p1 

    In the few last years, investigations in neural networks, fuzzy systems and their combinations become attractive research areas for modeling and controlling of uncertain systems. In this paper, we propose a new robust controller based on the integration of a Radial Base Function Neural Network...

  • Adaptive sliding mode fault-tolerant control for hypersonic vehicle based on radial basis function neural networks. Rongyu Zhai; Ruiyun Qi; Bin Jiang // International Journal of Advanced Robotic Systems;May/Jun2017, Vol. 14 Issue 3, p1 

    In this article, an adaptive sliding mode fault-tolerant control scheme is proposed to address the problem of robust and fast attitude tracking for a hypersonic vehicle in the presence of unknown external disturbances, additive fault and partial loss of effectiveness fault. Firstly, the healthy...

  • Characterizing and Predicting Submovements during Human Three-Dimensional Arm Reaches. Liao, James Y.; Kirsch, Robert F. // PLoS ONE;Jul2014, Vol. 9 Issue 7, p1 

    We have demonstrated that 3D target-oriented human arm reaches can be represented as linear combinations of discrete submovements, where the submovements are a set of minimum-jerk basis functions for the reaches. We have also demonstrated the ability of deterministic feed-forward Artificial...

  • Robust adaptive tracking control for unmanned helicopter with constraints. Rong Li; Mou Chen; Qingxian Wu; Jianye Liu // International Journal of Advanced Robotic Systems;May/Jun2017, Vol. 14 Issue 3, p1 

    In this article, a prescribed performance-based adaptive neural network control scheme is proposed for an uncertain small-scale unmanned helicopter system subject to input saturations and output constraints. The radial basis function neural networks are employed to approximate system...

  • Robust Sliding Control of SEIR Epidemic Models. Ibeas, Asier; de la Sen, Manuel; Alonso-Quesada, Santiago // Mathematical Problems in Engineering;2014, p1 

    This paper is aimed at designing a robust vaccination strategy capable of eradicating an infectious disease from a population regardless of the potential uncertainty in the parameters defining the disease. For this purpose, a control theoretic approach based on a sliding-mode control law is...

  • Uncalibrated Neuro-Visual Servoing Control for Multiple Robot Arms. GarcĂ­a-RodrĂ­guez, Rodolfo; Zegers, Pablo // International Journal of Advanced Robotic Systems;Sep2013, Vol. 10 Issue 9, p1 

    Diverse image-based tracking schemes for a robot moving in free motion have been proposed and experimentally validated. However, few visual servoing schemes have addressed the tracking of the desired trajectory and the contact forces for multiple robot arms. The main difficulty stems from the...

  • Backstepping fractional sliding mode voltage control of an islanded microgrid. Delavari, Hadi; Naderian, Sina // IET Generation, Transmission & Distribution;2019, Vol. 13 Issue 12, p2464 

    Distribution networks include thousands of sensors and a large number of controllable devices such as flexible loads, batteries and distributed generators with an arbitrary configuration that can be parametrically uncertain or topologically unknown. In this study, a new robust non-linear...

  • Decoupled Backstepping Sliding Mode Control of Underactuated Systems with Uncertainty: Experimental Results. Ata, Baris; Coban, Ramazan // Arabian Journal for Science & Engineering (Springer Science & Bu;Aug2019, Vol. 44 Issue 8, p7013 

    In this paper, a decoupled backstepping sliding mode control method is proposed to control underactuated systems under uncertainties and disturbances. The sliding mode control technique and the backstepping control technique are combined owing to their merits. Since the design methodology is...

  • An observer-based continuous adaptive sliding mode guidance against chattering for homing missiles. Jianguo Guo; Yifei Li; Jun Zhou // Transactions of the Institute of Measurement & Control;Aug2019, Vol. 41 Issue 12, p3309 

    A novel observer-based continuous adaptive sliding mode guidance (OCASMG) is proposed for homing missiles. First, a new sliding mode guidance law is derived from the nonlinear dynamics describing the pursuit situation of a missile and a target in the two-dimensional space, where a continuous...

Share

Read the Article

Courtesy of THE LIBRARY OF VIRGINIA

Sorry, but this item is not currently available from your library.

Try another library?
Sign out of this library

Other Topics