The bridge crane system is a typical under-actuated that widely used in production and life. Although various scholars have conducted extensive research on the recent years, there are still many problems, such as trajectory planning of cart anti-sway control cargo. In order to tackle problem cargo, hierarchical global fast terminal sliding-mode (H-GFTSMC) developed this work. First, Lagrange eq...

This study investigates the speed control of permanent magnet synchronous motors in presence external load disturbances via fast terminal sliding-mode (FTSMC). First, to enhance tracking performance, a logarithmic FTSMC method based on novel sliding surface is proposed improve previously introduced FTSMC. Second, we have derived an enhanced settling time, demonstrating its superiority over that...

The formation control of unmanned surface vehicles (USVs) while considering communication topology, dynamic model uncertainties, environmental disturbances, and a fast convergence rate is addressed in this paper. First, graph theory introduced to describe the connective relationships establish generalized errors among USVs. Then, second-order nonsingular terminal sliding-mode (SOFNTSMC) designe...

In order to improve the efficiency of human–robot interaction (HRI), it is necessary carry out research on precise control manipulator. this paper, an adaptive non-singular fast terminal sliding mode scheme proposed for robot manipulators solve trajectory tracking problem with model uncertainty and external disturbances. At first, a novel surface proposed, by introducing auxiliary function, sin...

Vehicle platoon is one of the innovations in automated highway systems, which has potential to reduce fuel consumption, alleviate traffic congestion and lighten driver’s burden. How control vehicle effectively ensure stability queue a challenge. Aiming overcome shortcomings method based on traditional sliding mode control, non-singular terminal optimized by extreme learning machine proposed thi...

In this paper, we have exploited the first-order sliding mode control method to track the ECG data of the human heart by three different nonlinear control laws. In order to lessen the intrinsic chattering of the classic sliding mode control system, smooth function approximations of the control input, by means of the hyperbolic tangent and the saturation function, were used. The fast Fourier tra...

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 t...

Sliding mode control (SMC) has been a very popular technology due to its simplicity and robustness against uncertainties disturbances since inception more than 60 years ago. Its foundation of stability stabilization is built on the principle Lyapunov theory which ascertains asymptotic stability. In 1990s, novel class SMC, called terminal sliding (TSMC), was proposed studied applied extensively,...