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Research Article
College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
College of Marine Engineering, Northwestern Polytechnical University, Xian 710072, China
a r t i c l e i n f o
abstract
Article history:
Received 11 July 2011
Received in revised form
14 September 2012
Accepted 28 September 2012
This paper was recommended for publication by Dr. Jeff Pieper
In this paper, the terminal sliding mode tracking control is proposed for the uncertain single-input and
single-output (SISO) nonlinear system with unknown external disturbance. For the unmeasured
disturbance of nonlinear systems, terminal sliding mode disturbance observer is presented.
The developed disturbance observer can guarantee the disturbance approximation error to converge
to zero in the nite time. Based on the output of designed disturbance observer, the terminal sliding
mode tracking control is presented for uncertain SISO nonlinear systems. Subsequently, terminal
sliding mode tracking control is developed using disturbance observer technique for the uncertain SISO
nonlinear system with control singularity and unknown non-symmetric input saturation. The effects of
the control singularity and unknown input saturation are combined with the external disturbance
which is approximated using the disturbance observer. Under the proposed terminal sliding mode
tracking control techniques, the nite time convergence of all closed-loop signals are guaranteed via
Lyapunov analysis. Numerical simulation results are given to illustrate the effectiveness of the
proposed terminal sliding mode tracking control.
& 2012 ISA. Published by Elsevier Ltd. All rights reserved.
Keywords:
Uncertain nonlinear system
Input saturation
Disturbance observer
Terminal sliding mode control
Tracking control
1. Introduction
During the past several decades, a lots of robust control
schemes have been developed for the uncertain nonlinear system
[14]. Sliding mode control (SMC) has received much attention as
an efcient control technique for handling systems with large
uncertainties, nonlinearities, and bounded external disturbances
[510]. The SMC was proposed for a class of nonlinear stochastic
systems with sector nonlinearities and deadzones in [9]. In [10],
the sliding-mode framework was given for multi-input afne
nonlinear systems. The systematic output-sliding control design
methodology was investigated for multivariable nonlinear systems [11]. The dynamic SMC was proposed for multi-input and
multi-output (MIMO) systems with additive uncertainties in [12].
In [13], model-reference tracking SMC was presented for uncertain plants with arbitrary relative degree. Due to the robust
enhanced ability, SMC has been widely used in many practical
control systems to improve the control system performance [14].
In [15], robust SMC was proposed for the inverted-pendulum
system. The second order SMC algorithm was presented for a twin
tank system in [16]. However, the basic SMC cannot guarantee
Corresponding author.
E-mail address: chenmou@nuaa.edu.cn (M. Chen).
0019-0578/$ - see front matter & 2012 ISA. Published by Elsevier Ltd. All rights reserved.
http://dx.doi.org/10.1016/j.isatra.2012.09.009
Please cite this article as: Chen M, et al. Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems. ISA
Transactions (2012), http://dx.doi.org/10.1016/j.isatra.2012.09.009
2. Problem formulation
Consider the uncertain SISO nonlinear system described in the
form of
x_ i xi 1 , i 1,2, . . . ,n1
x_ n f x gxu d
y x1
1
T
8t 4 t 0
1
aV 1g t0 l
ln
a1 g
l
where z is given by
z_ ksb signsesp0 =q0 9f x9 signs gxu
Please cite this article as: Chen M, et al. Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems. ISA
Transactions (2012), http://dx.doi.org/10.1016/j.isatra.2012.09.009
d
pi1 =qi1
a s bi1 si1
dt i1 i1
d pi1 =qi1
s i1 ai1 s_ i1 bi1 si1
dt
s_ i s i1
j 1
sij si1
dt
i1
ai1 si1 bi1 si1
V o 12s2
s_ n sn
1
n1
X
aj sjnj
j1
p0 q0 =q0
s_ n x_ n yn
9s9 9d9
r 2kV o 2
n1
X
n1
X
0 q0 =2q0
eV p
o
yn
d
p =q
s j j
nj j
s_
16
bj
nj
dt
p =q
sj j
nj j
aj sjnj
j1
n1
X
s_
bj
j1
nj
dt
p =q
sj j
nj j
s_
17
u0
gx
u0 f xydn
n1
X
aj sjnj
n1
X
j1
bj
nj
dt
p =q
sj j
nj j
p =qn
d^ dsn msnn
18
where d 4 0 and m 4 0.
The above design procedure of the terminal sliding mode
control can be summarized in the following theorem, which
contains the results for disturbance-observer-based terminal
sliding mode tracking control of uncertain nonlinear systems
with external disturbance.
Theorem 2. Considering the uncertain nonlinear system (1) with the
external disturbance and assuming full state information available, the
terminal sliding mode disturbance observer is designed as (4)(6).
Under the proposed terminal sliding mode tracking control (18), all
signals of the closed-loop system are convergent in the nite time.
Proof. Substituting (18) into (17) yields
p =q
s_ n dsn msnn n dd^ s_
p =q
dsn ms n n d~ s_
n
19
20
11
dt
n1
X
j1
sn
1
15
nj
j1
s1 yyd
n1
X
aj sjnj
f x gxu dyn
d
bj
j1
j1
=qi1
p0 =q0
14
x_ n ydn
Considering (12), the recursive procedure for TSMC of uncertain nonlinear systems (1) is written as [19]
p =q1
s2 s_ 1 a1 s1 b1 s11
V 12s2n
21
p =q2
s3 s_ 2 a2 s2 b2 s22
^
n1
sn s_ n1 an1 sn1 bn1 sn1
=qn1
13
22
According to Lemma 1 and (22), we can know that all closedloop signals converge to the equilibrium point in the nite time.
This concludes the proof. &
Please cite this article as: Chen M, et al. Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems. ISA
Transactions (2012), http://dx.doi.org/10.1016/j.isatra.2012.09.009
where v is the designed control input command. umin and umax are
the unknown parameters of control input saturation. Here,
umin a umax denotes the non-symmetric input saturation.
For further facilitate analyze the integrated effect of the
control singularity and unknown non-symmetric input saturation, the robust tracking control command is given by
24
30
where z is given by
z_ ksb signsesp0 =q0 9f x9 signs vr
25
32
aj sjnj
j1
n1
X
bj
j1
nj
dt
p =q
^ dsn
s j j D
nj j
mspnn =qn
33
34
31
~ s_
D
s zxn
vr f x ydn
v gxg 2 x t1 vr
36
x_ n f x gxv Du d
f x vr d gxDutg 2 x t1 vr
26
where Du uv.
Since the upper and the lower limits of the non-symmetric
input saturation are unknown. Hence, Du is unknown. To handle
the unknown Du, we dene the compound disturbance as
D d gxDutg 2 x e1 vr
27
x_ n f x vr D
p q =q
V_ rds2n msn n n n
38
28
Similarly, the recursive procedure for TSMC of uncertain nonlinear systems (1) with the control singularity case and unknown
non-symmetric input saturation is designed as (11)(17). Invoking (17) and (28), we have
n1
X
37
s_ n x_ n ydn
aj sjnj
j1
f x vr Dyn
n1
X
j1
n1
X
j1
nj
bj
dt
p =q
sj j
nj j
aj sjnj
n1
X
j1
bj
s_
nj
dt
p =q
s j j
nj j
s_
29
Please cite this article as: Chen M, et al. Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems. ISA
Transactions (2012), http://dx.doi.org/10.1016/j.isatra.2012.09.009
2.5
2
1.5
1
0.5
6. Simulation study
0.5
0.2
0.1
1.5
Let us consider the following Van der Pol circuits system [50]
0.2 0.4
Time [s]
2.5
0
10
15
20
x_ 1 x2
y x1
39
p
where the external disturbance d 2 sin0:1pt 3 sin0:2 t 1.
Following, the extensive simulation to demonstrate the effectiveness of the proposed terminal sliding mode tracking control.
To proceed the design of terminal sliding mode disturbance
observer and terminal sliding mode tracking control, the design
parameters are chosen as k 2500, b 4, e 0:5, p0 5, q0 9,
a1 50, b1 0:5, p1 p2 5, q1 q2 7, d 60 and m 0:8.
The initial state conditions are arbitrarily chosen as x0 0:1,
^ 0. The desired trajectory is taken as
x2 0:2, d^ 0:2 and D
yd 2 sin0:2t.
35
40
45
50
Fig. 1. Output x1 (solid line) follows desired trajectory yd (dashed line) without
input saturation for Van der Pol circuits system.
0.02
Tracking error using the approach developed in [38]
Tracking error using the approach developed in this paper
0.015
0.01
0.005
0
s1
x_ 2 2x1 31x21 x2 u d
25
30
Time [s]
0.005
0.01
6.1.1. Without considering input saturation for Van der Pol circuits
system
In this subsection, we do not consider the control input
saturation. The terminal sliding mode disturbance observer and
the terminal sliding mode tracking control are given by
0.015
0.02
0
10
15
20
25
30
35
40
45
50
Time [s]
s zx2
z_ ksb signsesp0 =q0 92x1 31x21 x2 9 signs u
Fig. 2. Tacking errors without input saturation for Van der Pol circuits system.
s1 x1 yd
p =q1
s2 s_ 1 a1 s1 b1 s11
200
150
100
2x1 31x21 x2
p =q2
^ ds ms 2
d
2
2
50
40
Under the proposed disturbance-observer-based terminal sliding mode tracking control (40), from Figs. 1 and 2, we can observe
that the tracking performance is satisfactory and the tracking
error quickly converge to zero in a short nite time for the
uncertain nonlinear system (39) in the presence of the timevarying external disturbance. To show the good control performance of the proposed control terminal sliding mode control, we
compare the control performance under the developed control
approach with the developed disturbance-observer-based sliding
mode control in [38]. The comparison result is presented in Fig. 2
which illustrates the effectiveness of the proposed control scheme
and can obtain better control performance. According to Fig. 3, we
can see that the control input is bounded and convergent.
The disturbance estimate output and the disturbance estimate
error are presented in Figs. 4 and 5, respectively. Based on these
simulation results, we can obtain that the proposed disturbanceobserver-based terminal sliding mode tracking control is valid for
the uncertain nonlinear system with the time-varying external
disturbance.
0
u
p =q1
50
100
150
200
250
300
0
10
15
20
25
30
35
40
45
50
Time [s]
Fig. 3. Control input without input saturation for Van der Pol circuits system.
6.1.2. Considering input saturation for Van der Pol circuits system
To illustrate the effectiveness of the proposed terminal sliding
mode tracking control for the Van der Pol circuits system with
input saturation constraint, the saturation values is given by
umax 15:0, umin 20 in the simulation study. The terminal
Please cite this article as: Chen M, et al. Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems. ISA
Transactions (2012), http://dx.doi.org/10.1016/j.isatra.2012.09.009
2.5
s zx2
1.5
1
0.5
s1 x1 yd
0
1
2
Time [s]
p =q1
s2 s_ 1 a1 s1 b1 s11
p =q1
0
0
10
15
20
25
30
35
40
45
50
Time [s]
Fig. 4. The disturbance estimate output d^ (solid line) and the disturbance d
(dashed line).
41
0.25
0.8
0.2
0.6
0.15
0.4
0.1
0.2
s1
p =q2
0.05
0
0.2
0.4
0.05
0.6
0.1
0.8
1
0
10
15
20
25
30
Time [s]
35
40
45
50
10
15
20
25
30
Time [s]
35
40
45
50
Fig. 7. Tacking errors with input saturation for Van der Pol circuits system.
2.5
2
1.5
1
0.5
0
0.5
1
1.5
2
2.5
0
10
15
20
25
Time [s]
30
35
40
45
50
Fig. 6. Output x1 (solid line) follows desired trajectory yd (dashed line) with input saturation for Van der Pol circuits system.
Please cite this article as: Chen M, et al. Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems. ISA
Transactions (2012), http://dx.doi.org/10.1016/j.isatra.2012.09.009
20
200
15
150
10
100
50
0
u
5
50
10
100
15
150
20
200
25
0
10
15
20
25
30
Time [s]
35
40
45
50
10
15
20
25
30
Time [s]
35
40
45
50
Fig. 11. Control input without input saturation for dufng forced oscillation
systems.
Fig. 8. Control input with input saturation for Van der Pol circuits system.
1.5
1.5
1
1
0.5
0.5
0
0.5
0.5
1.5
1.5
2
0
10
15
20
25
30
Time [s]
35
40
45
50
Fig. 9. Output x1 (solid line) follows desired trajectory yd (dashed line) without
input saturation for dufng forced oscillation systems.
0.4
10
15
20
25
30
Time [s]
35
40
45
50
Fig. 12. Output x1 (solid line) follows desired trajectory yd (dashed line) with
input saturation for dufng forced oscillation systems.
0.25
0.3
0.2
0.15
0.2
S1
s1
0.1
0.1
0.05
0
0.05
0.1
0.1
0.2
0
10
15
20
25
30
35
40
45
50
Time [s]
Fig. 10. Tacking errors without input saturation for dufng forced oscillation
systems.
10
15
20
25 30
Time [s]
35
40
45
50
Fig. 13. Tacking errors with input saturation for dufng forced oscillation systems.
Please cite this article as: Chen M, et al. Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems. ISA
Transactions (2012), http://dx.doi.org/10.1016/j.isatra.2012.09.009
10
8
6
4
2
0
2
4
6
8
10
0
10
15
20
25
30
35
40
45
50
Time [s]
Fig. 14. Control input with input saturation for dufng forced oscillation systems.
42
7. Conclusion
In this paper, the disturbance-observer-based terminal sliding
mode tracking control has been proposed for a class of uncertain
nonlinear systems. To improve the ability of the disturbance
attenuation and system performance robustness, the terminal
sliding mode disturbance observer has been developed to approximate the system disturbance in the nite time. Based on the
output of the disturbance observer, the disturbance-observerbased terminal sliding mode tracking control has been presented
Please cite this article as: Chen M, et al. Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems. ISA
Transactions (2012), http://dx.doi.org/10.1016/j.isatra.2012.09.009
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Please cite this article as: Chen M, et al. Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems. ISA
Transactions (2012), http://dx.doi.org/10.1016/j.isatra.2012.09.009