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Fixed‐time sliding mode observer‐based controller for a class of uncertain nonlinear double integrator systems.

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Title: Fixed‐time sliding mode observer‐based controller for a class of uncertain nonlinear double integrator systems.
Authors: Alinaghi Hosseinabadi, Pooyan1,2 (AUTHOR) p.alinaghi_hosseinabadi@adfa.edu.au, Soltani Sharif Abadi, Ali3 (AUTHOR) ali.soltani_sharif_abadi.dokt@pw.edu.pl, Schwartz, Howard2 (AUTHOR) schwartz@sce.carleton.ca, Pota, Hemanshu1 (AUTHOR) h.pota@adfa.edu.au, Mekhilef, Saad4 (AUTHOR) smekhilef@swin.edu.au
Source: Asian Journal of Control. Sep2023, Vol. 25 Issue 5, p3456-3473. 18p.
Subjects: Systems integrators, Adaptive control systems, Manipulators (Machinery), Closed loop systems, Lyapunov stability, Test design
Abstract: This paper investigates a fixed‐time convergence issue using the sliding mode observer‐based controller for a class of uncertain nonlinear double integrator systems. This observer‐based controller is designed assuming that only the first state measurement is available and there is no information about external disturbances and modeling uncertainties. A new form of sliding mode observer in combination with a sliding mode controller is designed to estimate unmeasured state and unknown disturbances and uncertainties as well as provide the estimated data in the control law. A novel form of sliding surfaces for the robust observer‐based controller is proposed for which fixed‐time convergence is guaranteed to achieve trajectory tracking. In the proposed fixed‐time scheme, the bound on the settling time is user‐defined using design parameters regardless of the system's initial conditions. The control law and observer law are designed such that the chattering issue is alleviated in the control signal. The stability analysis of the closed‐loop system using the observer‐based controller is established via the Lyapunov theory. The validity of the controller design is tested by applying and simulating an example of a robot manipulator in Simulink/MATLAB. The superiority of the proposed method is demonstrated by comparing it with two other methods from the relevant literature. [ABSTRACT FROM AUTHOR]
Copyright of Asian Journal of Control is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: Fixed‐time sliding mode observer‐based controller for a class of uncertain nonlinear double integrator systems.
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  Data: <searchLink fieldCode="AR" term="%22Alinaghi+Hosseinabadi%2C+Pooyan%22">Alinaghi Hosseinabadi, Pooyan</searchLink><relatesTo>1,2</relatesTo> (AUTHOR)<i> p.alinaghi_hosseinabadi@adfa.edu.au</i><br /><searchLink fieldCode="AR" term="%22Soltani+Sharif+Abadi%2C+Ali%22">Soltani Sharif Abadi, Ali</searchLink><relatesTo>3</relatesTo> (AUTHOR)<i> ali.soltani_sharif_abadi.dokt@pw.edu.pl</i><br /><searchLink fieldCode="AR" term="%22Schwartz%2C+Howard%22">Schwartz, Howard</searchLink><relatesTo>2</relatesTo> (AUTHOR)<i> schwartz@sce.carleton.ca</i><br /><searchLink fieldCode="AR" term="%22Pota%2C+Hemanshu%22">Pota, Hemanshu</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> h.pota@adfa.edu.au</i><br /><searchLink fieldCode="AR" term="%22Mekhilef%2C+Saad%22">Mekhilef, Saad</searchLink><relatesTo>4</relatesTo> (AUTHOR)<i> smekhilef@swin.edu.au</i>
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  Data: <searchLink fieldCode="JN" term="%22Asian+Journal+of+Control%22">Asian Journal of Control</searchLink>. Sep2023, Vol. 25 Issue 5, p3456-3473. 18p.
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  Data: <searchLink fieldCode="DE" term="%22Systems+integrators%22">Systems integrators</searchLink><br /><searchLink fieldCode="DE" term="%22Adaptive+control+systems%22">Adaptive control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Manipulators+%28Machinery%29%22">Manipulators (Machinery)</searchLink><br /><searchLink fieldCode="DE" term="%22Closed+loop+systems%22">Closed loop systems</searchLink><br /><searchLink fieldCode="DE" term="%22Lyapunov+stability%22">Lyapunov stability</searchLink><br /><searchLink fieldCode="DE" term="%22Test+design%22">Test design</searchLink>
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  Data: This paper investigates a fixed‐time convergence issue using the sliding mode observer‐based controller for a class of uncertain nonlinear double integrator systems. This observer‐based controller is designed assuming that only the first state measurement is available and there is no information about external disturbances and modeling uncertainties. A new form of sliding mode observer in combination with a sliding mode controller is designed to estimate unmeasured state and unknown disturbances and uncertainties as well as provide the estimated data in the control law. A novel form of sliding surfaces for the robust observer‐based controller is proposed for which fixed‐time convergence is guaranteed to achieve trajectory tracking. In the proposed fixed‐time scheme, the bound on the settling time is user‐defined using design parameters regardless of the system's initial conditions. The control law and observer law are designed such that the chattering issue is alleviated in the control signal. The stability analysis of the closed‐loop system using the observer‐based controller is established via the Lyapunov theory. The validity of the controller design is tested by applying and simulating an example of a robot manipulator in Simulink/MATLAB. The superiority of the proposed method is demonstrated by comparing it with two other methods from the relevant literature. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
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  Data: <i>Copyright of Asian Journal of Control is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1002/asjc.3052
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      – Code: eng
        Text: English
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        PageCount: 18
        StartPage: 3456
    Subjects:
      – SubjectFull: Systems integrators
        Type: general
      – SubjectFull: Adaptive control systems
        Type: general
      – SubjectFull: Manipulators (Machinery)
        Type: general
      – SubjectFull: Closed loop systems
        Type: general
      – SubjectFull: Lyapunov stability
        Type: general
      – SubjectFull: Test design
        Type: general
    Titles:
      – TitleFull: Fixed‐time sliding mode observer‐based controller for a class of uncertain nonlinear double integrator systems.
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          Name:
            NameFull: Alinaghi Hosseinabadi, Pooyan
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            NameFull: Soltani Sharif Abadi, Ali
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            NameFull: Schwartz, Howard
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            NameFull: Pota, Hemanshu
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            NameFull: Mekhilef, Saad
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            – D: 01
              M: 09
              Text: Sep2023
              Type: published
              Y: 2023
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              Value: 25
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            – TitleFull: Asian Journal of Control
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