33 results on '"Ding, Shihong"'
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2. Fixed-time generalized super-twisting control for path tracking of autonomous agricultural vehicles considering wheel slipping
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Sun, Jinlin, Li, Qiushi, Ding, Shihong, Xing, Gaoyong, and Chen, Liping
- Published
- 2023
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3. Temperature regulation for liquid-cooled fuel cell based on adaptive sliding mode control.
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Chen, Lin, Ding, Shihong, Zhao, Jing, Gao, Jinwu, and Chen, Hong
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SLIDING mode control , *TEMPERATURE control , *FUEL cells , *TIME delay systems , *INCREMENTAL motion control , *RADIATORS - Abstract
The liquid cooling system (LCS) of the proton exchange membrane (PEM) fuel cell suffers from large time delay, coupling, uncertainties, and various disturbances, making it susceptible to temperature regulation overshoot and control oscillation. This article focuses on a composite control scheme for the LCS that has effectively addressed the aforementioned issues. We first propose a two-layer control approach for the pump to minimize coupling, and an average delay model (ADM) for radiator whose parameter uncertainties are removed by equilibrium optimizer (EO). To overcome disturbances, an adaptive sliding mode control (ASMC) based on extended state observer (ESO) is presented, and its finite-time convergence is demonstrated. Additionally, the indirect regulation for the stack temperature is designed to considerably reduce the time delay in the fan control loop. Co-simulation results indicate that the proposed ASMC significantly suppresses the chattering phenomenon compared with regular sliding mode control (SMC). In contrast to incremental fuzzy control, the proposed scheme possesses superiorities in response speed, tracking accuracy, anti-disturbance, as well as suppression of overshoot and oscillation. • A two-layer control approach is developed for the coolant pump. • An average delay model is presented for the radiator. • An adaptive sliding mode control is proposed for the cooling fan. • An indirect regulation method significantly reduces the time delay in the fan control loop. [ABSTRACT FROM AUTHOR]
- Published
- 2024
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4. Design and testing of a control system associated with the automatic feeding boat for farming Chinese river crabs
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Ruan, Chengzhi, Zhao, Dean, Sun, Yueping, Hong, Jianqing, Ding, Shihong, and Luo, Ji
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- 2018
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5. Controller design for nonlinear affine systems by control Lyapunov functions
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Ding, Shihong and Zheng, Wei Xing
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- 2013
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6. Path tracking of unmanned agricultural tractors based on a novel adaptive second-order sliding mode control.
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Ji, Xin, Ding, Shihong, Wei, Xinhua, and Cui, Bingbo
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SLIDING mode control , *FARM tractors , *AUTONOMOUS vehicles , *DYNAMIC models - Abstract
Unmanned tractors are widely adopted in agricultural operations as autonomous driving technology progresses. The current path tracking control methods are limited by the unstructured farmland, the accuracy and anti-interference ability needed to be improved. This paper presents a novel adaptive second-order sliding mode (ASOSM) control method to tackle the aforementioned problems in practical implementation. First, we introduce a preview lateral offset model based on the preview kinematic and tractor dynamic model, which helps solve the under-actuated problem in path tracking. Then, the ASOSM controller is designed using the revamped adding a power integrator (API) and adaptive mechanism, which ensures that the sliding variable is converged to zero within the finite time. Meanwhile, the chattering problem in traditional sliding mode control is relieved. Finally, a high-fidelity and full-car model is established under Simulink/Carsim environment, and comparative simulations conrm the superiority of the designed control method. [ABSTRACT FROM AUTHOR]
- Published
- 2023
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7. Composite SOSM controller for path tracking control of agricultural tractors subject to wheel slip.
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Ding, Chen, Ding, Shihong, Wei, Xinhua, and Mei, Keqi
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FARM tractors ,ANTILOCK brake systems in automobiles ,LYAPUNOV stability ,WHEELS ,PRECISION farming - Abstract
In the work, the path tracking control methods are developed for autonomous agricultural tractors subject to wheel slip constraints by using second-order sliding mode (SOSM) and finite-time disturbance observer (FDOB) techniques. First of all, the path tracking error dynamics derived from the kinematic model is given and applied to controller design. In order to deal with the inevitable chattering problem existing in the conventional first-order sliding mode (FOSM) controller, a SOSM controller is constructed by regarding the controller derivative as the new control law, which means that the practical control law can be seen as an integration of the SOSM controller. Through a combination of the FDOB and the designed SOSM controller, the composite path tracking controller is further constructed to avoid high control gains in the designed SOSM controller. The strict Lyapunov stability analysis is carried out to ensure that the sliding variable can be finite-time stabilized to the origin under the proposed control algorithms. Finally, the comparative simulation results confirm that the developed guidance laws can achieve good tracking performance and strong robustness even in the presence of slipping effects. • The second-order sliding mode (SOSM) controller is designed to solve the path tracking control problem of agricultural tractors. • The composite control method is proposed to avoid high gains in the designed SOSM controller. • The slipping effects and unknown external disturbances are simultaneously considered in the controller design. [ABSTRACT FROM AUTHOR]
- Published
- 2022
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8. Finite-time state-feedback control for a class of stochastic constrained nonlinear systems.
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Fang, Liandi, Ding, Shihong, Ma, Li, and Zhu, Daohong
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NONLINEAR systems , *LYAPUNOV stability , *STABILITY theory , *LYAPUNOV functions , *PSYCHOLOGICAL feedback , *STOCHASTIC systems , *INTEGRATORS - Abstract
In this article, the finite-time stability problem is investigated for a kind of stochastic nonlinear systems subject to asymmetric output constraints. Firstly, a new asymmetric barrier Lyapunov function (BLF) is introduced to deal with the constraint on output variable. Further, through incorporating the proposed BLF into the adding a power integrator technique, a state-feedback controller is explicitly designed. With the help of the stochastic Lyapunov stability theory, it is then proved that the origins of the considered systems are finite-time stable in probability under the designed controller. Meanwhile, the proposed control scheme also guarantees that the pre-given output constraint is not violated in the almost sure sense. Finally, the simulation results of an example are provided to demonstrate the derived theoretical conclusion. [ABSTRACT FROM AUTHOR]
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- 2022
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9. HOSM controller design with an output constraint and its application.
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Mei, Keqi and Ding, Shihong
- Subjects
MATHEMATICAL proofs ,LYAPUNOV functions ,LINEAR systems ,ALGORITHMS ,NONLINEAR systems - Abstract
This work has developed an approach to a high-order sliding mode (HOSM) controller design for nonlinear systems subject to output constraints. To handle the output constraints, a barrier Lyapunov function (BLF) has been adopted. By inserting the BLF into the revamped adding a power integrator (API) technique, a HOSM controller, which can handle the closed-loop sliding mode dynamics synchronously with and without output constraints, is constructively framed. The strictly mathematical proof shows that the presented strategy can assure the finite-time stability of the closed-loop system and the achievement of a pre-set output constraint. The differences between the proposed HOSM controller and the traditional HOSM controller are discussed via a numerical example. Finally, the theoretical results obtained are successfully applied to a series elastic actuator system. The simulation results clearly confirm the merit of the presented HOSM algorithm. • By implanting BLF into API technique, a HOSM controller design scheme is developed. • The strategy can handle the HOSM dynamics with and without output constraints. • The HOSM controller ensures the system finite-time stability with output constraints. [ABSTRACT FROM AUTHOR]
- Published
- 2021
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10. Fixed-time HOSM controller design for constrained sliding mode systems with mismatched terms.
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Mei, Keqi and Ding, Shihong
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CLOSED loop systems , *LYAPUNOV functions - Abstract
The current study has systematically presented a strategy of designing the fixed-time high-order sliding mode (HOSM) controller with asymmetric output constraints. This constructive method is accomplished by three crucial mechanisms. First of all, some nonlinear terms satisfying homogeneous growth conditions are implanted into the mismatched channels of the traditional HOSM system. Based on this, a HOSM system with mismatched terms is built to weaken the uncertainties in control input channels. Secondly, a barrier Lyapunov function (BLF) is developed to resolve the constraints. Thirdly, by integrating the BLF with a backstepping-like method, a fixed-time HOSM controller is explicitly proposed to handle the HOSM dynamics with mismatched terms and asymmetric output constraints. It is shown via the strict Lyapunov analysis that under the constructed controller, the closed-loop system is fixed-time stabilized and the realization of prescribed constraints is insured. The investigations of two cases are provided to validate the established theoretical results. [ABSTRACT FROM AUTHOR]
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- 2022
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11. Adaptive asymptotic tracking control design for high-order uncertain nonlinear systems.
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Zhang, Haoyue and Ding, Shihong
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ADAPTIVE control systems , *NONLINEAR systems , *UNCERTAIN systems , *COORDINATE transformations , *TIME-varying systems , *CLOSED loop systems , *INTEGRATORS , *LYAPUNOV functions - Abstract
• In this work, a new general control strategy for the asymptotic tracking problem of high-order uncertain nonlinear systems is proposed so that the convergence of tracking error is not affected by the initial value and the Lyapunov function. • The proposed approach ensures that all signals in the whole closed-loop system are bounded, the adaptive compensation is performed for each step, which avoids overestimating parameters and overcomes the inherent nonlinear obstacles of the system. • The flexibility of the control design is increased by introducing the ingenious coordinate transformations and algebraic transformations. The adaptive technology and the technique of adding a power integrator are successfully verified to update and extended to an universal adaptive asymptotic tracking control, which also provides guidance for constructing general adaptive controllers and verifying asymptotic convergence. This paper investigates the asymptotic tracking control of uncertain high-order nonlinear systems with time-varying desired signals.A new universal adaptive tracking control strategy is introduced, which combines the technique of adding a power integrator, adaptive technology and a series of algebraic transformations to achieve asymptotic tracking performance successfully. Compared to the traditional tracking control strategies, the proposed control scheme guarantees that the output tracking error of the high-order nonlinear system asymptotically converges to zero and is no longer limited to a time-varying compact domain. While ensuring that all signals in the closed-loop system are bounded, the controller also has sufficient ability to compensate for the unknown quantity, virtual control coefficient and parameter uncertainty of the system. Finally, the feasibility and effectiveness of the theoretical results are verified by a simulation example. [ABSTRACT FROM AUTHOR]
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- 2023
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12. Second-order sliding mode controller design subject to mismatched term.
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Ding, Shihong and Li, Shihua
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SLIDING mode control , *LYAPUNOV functions , *STABILITY theory , *INTEGRATORS , *MATHEMATICAL variables - Abstract
This communique proposes a novel second-order sliding mode (SOSM) control method to handle sliding mode dynamics with mismatched term, so as to reduce the terms in the control channel. Meanwhile, it is shown that the proposed control approach can be used to design SOSM controllers under disturbances bounded by positive functions rather than conventional constant upper bounds. The finite-time stability of the sliding variables has been shown by using finite-time Lyapunov theory. The validity of the proposed approach is verified by controlling a Buck converter. [ABSTRACT FROM AUTHOR]
- Published
- 2017
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13. Straight-line tracking controller design of agricultural tractors based on third-order sliding mode.
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Ding, Shihong, Huang, Chi, Ding, Chen, and Wei, Xinhua
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FARM tractors , *ADAPTIVE control systems , *FINITE, The - Abstract
This article aims at solving the straight-line tracking control problem of agricultural tractors in the presence of negative influences induced by unknown disturbances. Firstly, the path tracking dynamics model with unknown disturbance is established, and then it is further converted into a third-order sliding mode (TOSM) dynamics that facilitates control design. On this basis, a straight-line tracking control strategy for agricultural tractors is proposed by using TOSM. It is demonstrated by strict Lyapunov analysis that the lateral error and heading deviation are stabilized to the origin in a finite time. Finally, the comparative simulation results show that the proposed path-tracking algorithm can achieve the control objective of straight-line tracking of agricultural tractors. [Display omitted] • The third-order sliding mode controller is proposed to handle the problem of agricultural tractor navigation. • The proposed control scheme can ensure that the tracking errors converge to zero in a finite time. • The closed-loop sliding mode dynamics can be driven to the origin in finite time. [ABSTRACT FROM AUTHOR]
- Published
- 2023
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14. Simple homogeneous sliding-mode controller.
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Ding, Shihong, Levant, Arie, and Li, Shihua
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SLIDING mode control , *PID controllers , *UNCERTAIN systems , *HOMOGENEOUS spaces , *LYAPUNOV functions - Abstract
High-order sliding mode (HOSM) control is known to provide for finite-time-exact output regulation of uncertain systems with known relative degrees. Yet the corresponding universal HOSM controllers are typically constructed by special recursive procedures and have complicated form. We propose two new families of homogeneous HOSM controllers of a very simple form. Lyapunov functions are provided for a significant part of the first-family controllers. The second family consists of quasi-continuous controllers, which can be done arbitrarily smooth everywhere outside of the HOSM manifold. A regularization procedure ensures high-accuracy output regulation by means of control with required smoothness level. Output-feedback controllers are constructed. Controllers of the orders 3–5 are demonstrated. [ABSTRACT FROM AUTHOR]
- Published
- 2016
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15. Practical adaptive finite-time stabilization for a class of second-order systems.
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Dou, Wenhui, Ding, Shihong, and Chen, Xiangyong
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ADAPTIVE control systems , *NONLINEAR systems , *CLOSED loop systems , *DYNAMICAL systems , *WORK design , *INTEGRATORS - Abstract
• This is the first work to design a finite-time controller with a new adaptive mechanism by constructing a novel preset region. The dynamical change of the control gain is dependent on the case whether the state trajectories enter or leave a pre-designed domain or not. • The novel adaptive control strategy is presented to avoid the overestimation of the developed adaptive gain based on the adding a power integrator technique and the Lyapunov method. Meanwhile, the novel practical adaptive finite-time controller could improve the dynamic performance of systems and reduce the potential chattering influence. • In practical applications, the system states are usually finite-time stabilized to a neighborhood of the origin, rather than the origin. From this point of view, the investigation of practical finite-time stability (PFTS) for nonlinear systems is more meaningful. In this paper, the PFTS of second-order nonlinear systems has been verified under the developed adaptive finite-time controller. This paper considers the practical adaptive finite-time stabilization problem for a class of second-order systems. Based on the adding a power integrator technique and the adaptive method, a novel adaptive control strategy is presented to assure the trajectories of the closed-loop systems converge to a small neighborhood of the origin in a finite time. Under the adaptive control strategy, the dynamical change of control gain is dependent on the cases whether the state trajectories enter or leave a pre-designed domain or not. In addition, the practical finite-time stability (PFTS) of systems is testified via utilizing the Lyapunov method and adaptive mechanism. Last of all, the validity of the obtained practical adaptive finite-time algorithm is verified via simulation results. [ABSTRACT FROM AUTHOR]
- Published
- 2022
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16. Guest editorial : Introduction to the special section on recent advances and challenges in intelligent sliding mode control for modern industrial systems: soft computing solutions.
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Wang, Hai, Ding, Shihong, and Nam, Kanghyun
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INDUSTRIAL controls manufacturing , *SOFT computing , *COMPUTER systems , *SLIDING mode control - Published
- 2022
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17. Nonsmooth stabilization of a class of nonlinear cascaded systems
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Ding, Shihong, Li, Shihua, and Zheng, Wei Xing
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NONSMOOTH optimization , *NONLINEAR systems , *STATISTICAL linearization , *HOMOGENEOUS spaces , *FINITE difference time domain method , *CONTROL theory (Engineering) , *SYSTEMS theory - Abstract
Abstract: A global nonsmooth stabilization scheme is presented for a class of nonlinear cascaded systems with uncontrollable linearization. A stepwise constructive control methodology is proposed for the driving subsystem by using the adding a power integrator technique. Under suitable conditions and based on homogeneous properties, it is proved that the stabilization of the driving subsystem implies the stabilization of the overall cascaded system. Due to the versatility of the adding a power integrator technique and homogeneous properties, the proposed controller not only can be used to stabilize the cascaded system asymptotically, but also is able to lead to an interesting result of finite-time stabilization under appropriate conditions. [Copyright &y& Elsevier]
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- 2012
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18. Stabilization of the attitude of a rigid spacecraft with external disturbances using finite-time control techniques
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Ding, Shihong and Li, Shihua
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NANOSATELLITE attitude control systems , *SPACE vehicles , *CONTROL theory (Engineering) , *AUTOMATIC control systems , *ASTRONAUTICS - Abstract
Abstract: In this paper, we consider the attitude stabilization problem for a rigid spacecraft with external disturbances. To obtain a better disturbance rejection property, we employ finite-time control techniques. In the absence of disturbances, by employing continuous finite-time control method, a continuous finite-time controller is designed such that the attitude of the rigid spacecraft will converge to the origin in finite time. In the presence of disturbances, by employing terminal sliding mode method, a discontinuous finite-time control law is proposed such that the states will eventually converge to a small region of the origin, which can be rendered as small as desired. Numerical simulation results show the effectiveness of the method. [Copyright &y& Elsevier]
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- 2009
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19. Output-feedback finite-time stabilization of a class of constrained planar systems.
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Mei, Keqi and Ding, Shihong
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PSYCHOLOGICAL feedback , *PERMANENT magnet motors , *STABILITY theory , *LYAPUNOV stability , *LYAPUNOV functions , *LINEAR systems - Abstract
• The paper projects a finite-time output feedback control framework subject to asymmetric output constraints. • The proposed control strategy can assure the finite-time stability of the whole system under output constraints. • Via an observer, only partial state knowledge is demanded to be measured in the proposed control method. This work has addressed the output-feedback finite-time stabilization issue for a type of asymmetric output-constrained planar systems. The innovation involved in the results of the work owes to the construction of a barrier Lyapunov function (BLF) to the handling of the asymmetric output constraint. By incorporated the BLF into the backstepping-like technique, a state feedback controller is first developed. An implementable observer is subsequently designed to estimate the unmeasurable system state. Lastly, an observer-based finite-time output feedback controller is explicitly proposed. Theoretically, the Lyapunov stability theory is adopted to show that the system states are finite-time stabilized under the presented control scheme. Meanwhile, the violation of a pre-established asymmetric output constraint is circumvented. To testify the derived theoretical results, the case studies of a permanent magnet linear motor system are offered. [ABSTRACT FROM AUTHOR]
- Published
- 2022
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20. A unified control approach to finite-time stabilization of SOSM dynamics subject to an output constraint.
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Liu, Lu and Ding, Shihong
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UNCERTAINTY , *LYAPUNOV functions , *VIRTUAL networks - Abstract
This paper investigates the control design problem for the second-order sliding mode (SOSM) dynamics with mismatched uncertainty subject to the output constraint by means of the adding a power integrator technique. An unified method through the barrier Lyapunov function (BLF) technique and adding a power integrator technique has been proposed. The contributions of the paper can be summarized as follows. • This is the first time to investigate the stabilization problem for the SOSM dynamics with mismatched uncertainty subject to output constraint. • The homogeneity of the SOSM control method holds due to the modified BLF. • The proposed method can deal with the symmetric output constraint as well as the asymmetric output constraint. • The developed SOSM controller has the generic property since it is also valid in the absence of the output constraint or the mismatched uncertainty. This paper investigates a control design problem for the second-order sliding mode (SOSM) dynamics with mismatched uncertainty subject to the output constraint by means of the adding a power integrator technique. Firstly, a SOSM dynamics with mismatched uncertainty is constructed by retaining some information in the mismatched channel so as to reduce the uncertainty in the control channel, thereby relaxing the control requirement. Secondly, a barrier Lyapunov function (BLF) is designed in consideration of the output constraint to prevent the considered system from escaping from the output constraint. Moreover, the output constraint can be either symmetric or asymmetric. Thirdly, by embedding the above BLF into the adding a power integrator technique, a SOSM controller can be eventually constructed for the SOSM dynamics with the mismatched uncertainty to solve the output constraint problem. The finite-time stability analysis is proved by Lyapunov theory. The simulation results considering the symmetric constraint as well as the asymmetric constraint are provided to demonstrate the validity of the proposed control method. [ABSTRACT FROM AUTHOR]
- Published
- 2021
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21. Second-order sliding mode controller design with output constraint.
- Author
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Ding, Shihong, Park, Ju H., and Chen, Chih-Chiang
- Subjects
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SLIDING mode control , *LYAPUNOV functions - Abstract
The output constraints widely exist in the physical systems and severely affect the performance of the closed-loop system. This paper considers the second-order sliding mode controller design subject to an output constraint. By constructing a new barrier Lyapunov function and applying the technique of adding a power integrator, a novel second-order sliding mode control algorithm, which can be used to deal with the output constraint problem, has been developed. The proposed sliding mode algorithm enables the output variable not to violate the boundary of the constraint region. Meanwhile, it has been shown that under the output constraint the sliding variable can still be stabilized to zero in a finite time. Finally, an academic example is given to verify the feasibility of the proposed second-order sliding mode algorithm. [ABSTRACT FROM AUTHOR]
- Published
- 2020
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22. Fixed-time SOSM controller design subject to an asymmetric output constraint.
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Wang, Lei, Mei, Keqi, and Ding, Shihong
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LYAPUNOV stability , *LYAPUNOV functions , *INTEGRATORS , *DESIGN , *SLIDING mode control - Abstract
This paper addresses the problem of fixed-time controller design for the second-order sliding mode (SOSM) dynamics with asymmetric output constraints. Based on the construction of a barrier Lyapunov function (BLF) and the technique of adding a power integrator, a fixed-time SOSM controller that can be used to handle the asymmetric output constraint issue is developed. A strict Lyapunov stability analysis shows that the developed SOSM controller guarantees that the sliding variable can converge to the origin within a fixed time that is irrelevant to the system initial conditions. Meanwhile, the system output will never invade the boundary of the preset asymmetric constrained area. Finally, two examples are given to verify the effectiveness and the feasibility of the proposed scheme. [ABSTRACT FROM AUTHOR]
- Published
- 2021
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23. Composite finite-time straight-line path-following control of an underactuated surface vessel.
- Author
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Hou, Qiankang, Ma, Li, Ding, Shihong, Yang, Xiaofei, and Chen, Xiangyong
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CLOSED loop systems , *FUEL costs , *PSYCHOLOGICAL feedback - Abstract
Aiming at steering an underactuated surface vessel (USV) with a shortest distance and lowest fuel cost to sail along the predetermined paths, this paper investigates the straight-line path-following problem for the USV in the presence of the disturbance, including system uncertainties, parameter perturbations and external disturbance, etc. First of all, by assuming that the disturbance does not exist, a state-feedback controller is designed for the path-following system by using finite-time control technique. Considering the facts that the yaw velocity of USV is usually not easy to be detected and the disturbance heavily affects the performance of the path-following system, a composite control method is developed in the presence of the disturbance to further improve the control performance by combining the finite-time differentiator (FTD) and the state-feedback controller. Owing to the disturbance estimation ability of FTD, the disturbance can be well compensated in real time, which implies that the robustness property of the closed-loop path-following system under the composite control scheme can be significantly improved. Finally, the simulation results are presented to verify the feasibility and effectiveness of the proposed algorithms. [ABSTRACT FROM AUTHOR]
- Published
- 2020
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24. High-order sliding mode controller design subject to lower-triangular nonlinearity and its application to robotic system.
- Author
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Liu, Lu, Zheng, Wei Xing, and Ding, Shihong
- Subjects
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CLOSED loop systems , *ROBOTICS , *ALGORITHMS , *UNCERTAINTY , *SLIDING mode control - Abstract
A common feature of the traditional high-order sliding mode (HOSM) control method is that the matched uncertainty of HOSM dynamics is enlarged by taking the high-order derivatives on the pre-selected sliding variable directly, which could cause much burden to the controller design. This deficiency is removed in this paper via introducing some nonlinear terms in the mismatched channels. On this basis, a new arbitrary-order HOSM dynamics with lower-triangular nonlinearities will be obtained. Then, a novel finite-time HOSM control approach an be developed by the aid of the mathematical tool named as adding a power integrator (API). Under the proposed HOSM algorithm, the mismatched uncertainties existing in the new HOSM dynamics are not required to be sufficiently smooth, but are needed to comply with a few homogeneous growth conditions. Moreover, the common constant boundary for the matched uncertainty in the majority of the available HOSM methods can be extended to a time-varying one. The rigorous proof is given based on the Lyapunov theory to show the finite-time stability of the considered closed-loop system. At last, an example of the robotic tracking system is adopted to validate the effectiveness of the developed finite-time HOSM control method. [ABSTRACT FROM AUTHOR]
- Published
- 2020
- Full Text
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25. Finite-time stabilization for a class of high-order stochastic nonlinear systems with an output constraint.
- Author
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Fang, Liandi, Ma, Li, Ding, Shihong, and Zhao, Dean
- Subjects
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STOCHASTIC systems , *NONLINEAR systems , *MATHEMATICAL proofs , *FRACTIONAL powers , *STATE feedback (Feedback control systems) , *FEEDBACK control systems , *LYAPUNOV functions , *STOCHASTIC analysis - Abstract
This paper considers the problem of finite-time stabilization in probability for a class of high-order stochastic nonlinear systems with output constraints in which the fractional powers are only required to be positive rather than not less than one. Based on a modified version of adding a power integrator technique and a novel tan-type barrier Lyapunov function, a systematic design approach is developed and a state-feedback controller is constructed. Rigorous mathematical proof shows that the origin of the system is finite-time stable in probability and the constraint requirement on the output is not violated. The effectiveness of the proposed finite-time control scheme is verified by a simulation example. [ABSTRACT FROM AUTHOR]
- Published
- 2019
- Full Text
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26. Integral sliding mode control for stochastic Markovian jump system with time-varying delay.
- Author
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Ma, Li, Wang, Changqing, Ding, Shihong, and Dong, Lili
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SLIDING mode control , *STOCHASTIC processes , *MARKOVIAN jump linear systems , *TIME-varying systems , *TIME delay systems - Abstract
The mean-square exponential stabilization problem of stochastic Markovian jump system subject to time-varying delays and uncertainties has been investigated by using integral sliding mode control technique. Firstly, in order that the system trajectories can be kept on the integral sliding surface almost surely since the initial time, an integral sliding surface is constructed by properly choosing some matrices. On this basis, a novel sliding mode controller is designed to guarantee that the states will be kept on the sliding surface. Then, the sufficient condition in terms of linear matrix inequalities is presented to ensure that the mean-square exponential stability of the states can be guaranteed. Finally, a numerical example is provided to illustrate the effectiveness of the proposed design method. [ABSTRACT FROM AUTHOR]
- Published
- 2016
- Full Text
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27. Adaptive pre-assigned finite-time control of uncertain nonlinear systems with unknown control gains.
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Yu, Zhefeng, Zhao, Feng, Ding, Shihong, and Chen, Xiangyong
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ADAPTIVE fuzzy control , *NONLINEAR systems , *UNCERTAIN systems , *FEEDBACK control systems , *PSYCHOLOGICAL feedback , *ADAPTIVE control systems , *CLOSED loop systems - Abstract
• A modified design process of finite-time control (FTC) is achieved by utilizing prescribed performance control (PPC) and pre-assigned finitetime function (PFTF). • The states can converge to a predefined region within the pre-assigned finite-time. • The proposed method is more flexible and simpler since the convergence time is not related with the design parameters and initial values. • Nussubaum gain is employed to tackle the FTC problem for parameter systems with unknown signs. This paper mainly studies an adaptive finite-time control problem for a kind of uncertain strict feedback systems with unknown control gains. First, the original strict-feedback system is transformed into a pure-feedback system. And then, we propose a modified adaptive finite-time design idea on the basis of the property of pre-assigned finite-time function (PFTF) and Nussbaum gain. The designed controller can make sure that all states converge to an arbitrarily region in finite-time and signals in the closed-loop system are finite-time bounded. Moreover, the presented controller is smooth and the settling time does not rely on the initial values and design parameters. Finally, the simulation study is made to illustrate the innovativeness for the proposed scheme. [ABSTRACT FROM AUTHOR]
- Published
- 2022
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28. Second-order sliding mode controller design with mismatched term and time-varying output constraint.
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Ding, Chen, Ma, Li, and Ding, Shihong
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UNCERTAIN systems , *LINEAR systems , *LYAPUNOV functions , *NONLINEAR systems , *TIME-varying systems - Abstract
• This is the first work to investigate the design of SOSM controller with mismatched uncertainty and time-varying output constraint, and to further verify the stability of the uncertain system. • A new time-varying BLF has been constructed to handle the time-varying output constraint. By modifying the API technique and using the time-varying BLF, a SOSM controller for the SOSM dynamics under the time-varying output constraint is systematically projected such that the finite-time stability of closed-loop system can be guaranteed. Meanwhile, the time-varying output condition is never violated during operation. • In accordance with the Lyapunov approach, the finite-time stability of the closed-loop sliding mode dynamics is confirmed. Notably, the proposed method can handle nonlinear systems with the time-varying output constraint, static symmetrical output constraint, and can also be used to deal with nonlinear systems without output constraint. Therefore, the SOSM controller which is developed in this paper is more general. The current work develops a new approach to handle the second-order sliding mode (SOSM) controller design with mismatched term and time-varying output constraint. A novel time-varying Barrier Lyapunov Function (BLF) is firstly constructed to deal with the time-varying output constraint. A new SOSM dynamics subject to mismatched terms is established for the purpose of uncertainty reduction in control input channels. Meanwhile, by incorporating the time-varying BLF into the adding a power integrator (API) technique, a new finite-time SOSM controller, which can ensure that the system output variable will not violate the boundary of the constrained region, is explicitly constructed. Finally, a simulation example is given to illustrate the feasibility of the proposed SOSM algorithm. [ABSTRACT FROM AUTHOR]
- Published
- 2021
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- View/download PDF
29. Observer-based adaptive scheme for fixed-time frequency estimation of biased sinusoidal signals.
- Author
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Shi, Shang, Min, Huifang, and Ding, Shihong
- Subjects
- *
PARAMETER estimation - Abstract
In this technical communique, we propose a novel observer-based adaptive scheme to deal with the parameter estimation problem of biased sinusoidal signals. Different from the existing adaptive frequency estimation scheme, the proposed scheme can achieve fixed-time frequency estimation, whose convergence time is independent of the initial errors. Simulation example with different initial values shows the effectiveness of the theoretical result. [ABSTRACT FROM AUTHOR]
- Published
- 2021
- Full Text
- View/download PDF
30. TCP/AWM network congestion algorithm with funnel control and arbitrary setting time.
- Author
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Li, Zanhua, Chen, Xiangyong, Ding, Shihong, Liu, Yang, and Qiu, Jianlong
- Subjects
- *
TCP/IP , *ALGORITHMS , *TIME - Abstract
• A new concept, called fixed-time funnel boundary (FFB), is defined for the first time in this paper. • This work is first to introduce a new control mechanism for TCP/AWM system to ensures that the tracking error satisfies certain transient performances. • The proposed control scheme has the better performance and faster convergent rate than results without FFB or ACT. In this paper, TCP/AWM network congestion control problem is investigated. First, a new funnel boundary (FB) is proposed. And then, in the framework of backstepping, a new control technique is given by virtue of free-will arbitrary time stability and the novel FB, which guarantees that the tracking error converges to the origin within an arbitrary setting time. Besides, the transient performances of the error can also be achieved. Finally, simulation results verify the efficacy and superiority of the presented theoretical findings. [ABSTRACT FROM AUTHOR]
- Published
- 2020
- Full Text
- View/download PDF
31. Universal finite-time observer based second-order sliding mode control for DC-DC buck converters with only output voltage measurement.
- Author
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Zhang, Lu, Wang, Zuo, Li, Shihua, Ding, Shihong, and Du, Haibo
- Subjects
- *
SLIDING mode control , *ELECTRIC potential measurement , *PSYCHOLOGICAL feedback , *VOLTAGE control - Abstract
• Finite-time output voltage tracking control problem of DC-DC buck converter is investigated. • A universal finite-time observer is designed to estimate the unmeasurable states. • A finite-time output feedback controller based on second-order sliding mode is proposed. • Simulation and experiment results demonstrate the tracking performance and disturbance rejection ability of the proposed method. DC-DC buck converters are widely used in industrial applications. Practically, there are parametric uncertainties, external disturbances and nonlinear unmodeled dynamics affecting the control performance of the DC-DC buck converters. Worse still, the current sensor may fail to work normally in practice. Taking the factors aforementioned into account, this paper proposes a universal finite-time observer (UFTO) based second-order sliding mode controller with only output voltage measurement in a simple structure for buck converters subject to mismatched disturbances. Firstly, a universal finite-time observer is designed to give the estimations of unmeasurable states including the current inductor and lumped disturbances. Secondly, introducing the estimations, a second-order sliding mode controller is proposed and a rigorous stability of the whole system is presented. Under the proposed finite-time controller, the system obtains a better convergence property and a better disturbance rejection ability comparing with the asymptotic control method. Moreover, the controller has a simple structure, providing convenience for engineers. As a by-product, only voltage sensor is needed, which reduces the cost and improves the fault tolerant ability for the system. Simulation and experimental results are investigated to validate the effectiveness of the proposed control approach. [ABSTRACT FROM AUTHOR]
- Published
- 2020
- Full Text
- View/download PDF
32. Apple tree branch segmentation from images with small gray-level difference for agricultural harvesting robot.
- Author
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Ji, Wei, Qian, Zhijie, Xu, Bo, Tao, Yun, Zhao, Dean, and Ding, Shihong
- Subjects
- *
DIGITAL image processing , *IMAGE segmentation , *HARVESTING , *ROBOTS , *TREE branches , *ALGORITHMS - Abstract
Aiming at identifying for tree branches obstacle in navigation automatically and picking process of agricultural harvesting robots, an iterative threshold segmentation of apple branch images based on contrast limited adaptive histogram equalization (CLAHE) is proposed. Firstly, the RGB color space of the branch images are converted to the XYZ and I 1 I 2 I 3 color space by transformation formula, and the X-Y and I 2 color factor of the apple branch images are extracted to analyze their gray-level difference. Then, The CLAHE is applied to the images whose gray-level difference is not intensity before iterative threshold. Finally, the apple branches are segmented from the original images by the iterative threshold. To verify the validity of the proposed method, 100 testing images in size of 1280 × 960 pixels under different illumination are utilized to compare the proposed method with other famous approaches, such as OTSU and histogram algorithm. Experimental results show that 94% of the apple branch images are correctly recognized and the segmentation quality of the proposed method is better than other approaches, which implies that the proposed method is effective for the tree branch segmentation. [ABSTRACT FROM AUTHOR]
- Published
- 2016
- Full Text
- View/download PDF
33. Finite-time controller design of multiple integrator nonlinear systems with input saturation.
- Author
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Mei, Keqi, Ma, Li, He, Runxin, and Ding, Shihong
- Subjects
- *
NONLINEAR systems , *SYSTEMS integrators , *CLOSED loop systems - Abstract
This paper has developed a finite-time controller design for a category of multiple integrator nonlinear systems subject to input saturation. First of all, an unsaturated finite-time controller is constructed without considering input saturation. On this basis, by combining the saturation technique, a saturated controller is presented to finite-time stabilize the closed-loop system and to guarantee no transgression of pre-set input saturation. In simulation studies, an academic example is given to confirm the validity of the proposed approach. Moreover, the presented theoretical results are successfully applied to the saturated finite-time control of an agricultural vehicle straight-line tracking system (AVSTS). [ABSTRACT FROM AUTHOR]
- Published
- 2020
- Full Text
- View/download PDF
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