Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles

For the 4-DOF (degrees of freedom) trajectory tracking control problem of underwater remotely operated vehicles (ROVs) in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC) technique is introduc...
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Autor*in:	Yaoyao Wang [verfasserIn] Jiawang Chen [verfasserIn] Linyi Gu [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2014

Übergeordnetes Werk:	In: The Scientific World Journal - Hindawi Limited, 2012, (2014)
Übergeordnetes Werk:	year:2014

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc Journal toc

DOI / URN:	10.1155/2014/838019

Katalog-ID:	DOAJ045633304

Internformat


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520			\|a For the 4-DOF (degrees of freedom) trajectory tracking control problem of underwater remotely operated vehicles (ROVs) in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC) technique is introduced in light of the equivalent output injection sliding mode observer (SMO) and TSMC principle and fractional calculus technology. The equivalent output injection SMO is applied to reconstruct the full states in finite time. Meanwhile, the FO-NTSMC algorithm, based on a new proposed fractional-order switching manifold, is designed to stabilize the tracking error to equilibrium points in finite time. The corresponding stability analysis of the closed-loop system is presented using the fractional-order version of the Lyapunov stability theory. Comparative numerical simulation results are presented and analyzed to demonstrate the effectiveness of the proposed method. Finally, it is noteworthy that the proposed output feedback FO-NTSMC technique can be used to control a broad range of nonlinear second-order dynamical systems in finite time.
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allfields	10.1155/2014/838019 doi (DE-627)DOAJ045633304 (DE-599)DOAJ91f7ad11a0924a46818b437e2363e6e1 DE-627 ger DE-627 rakwb eng Yaoyao Wang verfasserin aut Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles 2014 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier For the 4-DOF (degrees of freedom) trajectory tracking control problem of underwater remotely operated vehicles (ROVs) in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC) technique is introduced in light of the equivalent output injection sliding mode observer (SMO) and TSMC principle and fractional calculus technology. The equivalent output injection SMO is applied to reconstruct the full states in finite time. Meanwhile, the FO-NTSMC algorithm, based on a new proposed fractional-order switching manifold, is designed to stabilize the tracking error to equilibrium points in finite time. The corresponding stability analysis of the closed-loop system is presented using the fractional-order version of the Lyapunov stability theory. Comparative numerical simulation results are presented and analyzed to demonstrate the effectiveness of the proposed method. Finally, it is noteworthy that the proposed output feedback FO-NTSMC technique can be used to control a broad range of nonlinear second-order dynamical systems in finite time. Technology T Medicine R Science Q Jiawang Chen verfasserin aut Linyi Gu verfasserin aut In The Scientific World Journal Hindawi Limited, 2012 (2014) (DE-627)345616545 (DE-600)2075968-X 1537744X nnns year:2014 https://doi.org/10.1155/2014/838019 kostenfrei https://doaj.org/article/91f7ad11a0924a46818b437e2363e6e1 kostenfrei http://dx.doi.org/10.1155/2014/838019 kostenfrei https://doaj.org/toc/2356-6140 Journal toc kostenfrei https://doaj.org/toc/1537-744X Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_171 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_375 GBV_ILN_602 GBV_ILN_636 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2106 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2232 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 2014
spelling	10.1155/2014/838019 doi (DE-627)DOAJ045633304 (DE-599)DOAJ91f7ad11a0924a46818b437e2363e6e1 DE-627 ger DE-627 rakwb eng Yaoyao Wang verfasserin aut Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles 2014 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier For the 4-DOF (degrees of freedom) trajectory tracking control problem of underwater remotely operated vehicles (ROVs) in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC) technique is introduced in light of the equivalent output injection sliding mode observer (SMO) and TSMC principle and fractional calculus technology. The equivalent output injection SMO is applied to reconstruct the full states in finite time. Meanwhile, the FO-NTSMC algorithm, based on a new proposed fractional-order switching manifold, is designed to stabilize the tracking error to equilibrium points in finite time. The corresponding stability analysis of the closed-loop system is presented using the fractional-order version of the Lyapunov stability theory. Comparative numerical simulation results are presented and analyzed to demonstrate the effectiveness of the proposed method. Finally, it is noteworthy that the proposed output feedback FO-NTSMC technique can be used to control a broad range of nonlinear second-order dynamical systems in finite time. Technology T Medicine R Science Q Jiawang Chen verfasserin aut Linyi Gu verfasserin aut In The Scientific World Journal Hindawi Limited, 2012 (2014) (DE-627)345616545 (DE-600)2075968-X 1537744X nnns year:2014 https://doi.org/10.1155/2014/838019 kostenfrei https://doaj.org/article/91f7ad11a0924a46818b437e2363e6e1 kostenfrei http://dx.doi.org/10.1155/2014/838019 kostenfrei https://doaj.org/toc/2356-6140 Journal toc kostenfrei https://doaj.org/toc/1537-744X Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_171 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_375 GBV_ILN_602 GBV_ILN_636 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2106 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2232 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 2014
allfields_unstemmed	10.1155/2014/838019 doi (DE-627)DOAJ045633304 (DE-599)DOAJ91f7ad11a0924a46818b437e2363e6e1 DE-627 ger DE-627 rakwb eng Yaoyao Wang verfasserin aut Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles 2014 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier For the 4-DOF (degrees of freedom) trajectory tracking control problem of underwater remotely operated vehicles (ROVs) in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC) technique is introduced in light of the equivalent output injection sliding mode observer (SMO) and TSMC principle and fractional calculus technology. The equivalent output injection SMO is applied to reconstruct the full states in finite time. Meanwhile, the FO-NTSMC algorithm, based on a new proposed fractional-order switching manifold, is designed to stabilize the tracking error to equilibrium points in finite time. The corresponding stability analysis of the closed-loop system is presented using the fractional-order version of the Lyapunov stability theory. Comparative numerical simulation results are presented and analyzed to demonstrate the effectiveness of the proposed method. Finally, it is noteworthy that the proposed output feedback FO-NTSMC technique can be used to control a broad range of nonlinear second-order dynamical systems in finite time. Technology T Medicine R Science Q Jiawang Chen verfasserin aut Linyi Gu verfasserin aut In The Scientific World Journal Hindawi Limited, 2012 (2014) (DE-627)345616545 (DE-600)2075968-X 1537744X nnns year:2014 https://doi.org/10.1155/2014/838019 kostenfrei https://doaj.org/article/91f7ad11a0924a46818b437e2363e6e1 kostenfrei http://dx.doi.org/10.1155/2014/838019 kostenfrei https://doaj.org/toc/2356-6140 Journal toc kostenfrei https://doaj.org/toc/1537-744X Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_171 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_375 GBV_ILN_602 GBV_ILN_636 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2106 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2232 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 2014
allfieldsGer	10.1155/2014/838019 doi (DE-627)DOAJ045633304 (DE-599)DOAJ91f7ad11a0924a46818b437e2363e6e1 DE-627 ger DE-627 rakwb eng Yaoyao Wang verfasserin aut Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles 2014 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier For the 4-DOF (degrees of freedom) trajectory tracking control problem of underwater remotely operated vehicles (ROVs) in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC) technique is introduced in light of the equivalent output injection sliding mode observer (SMO) and TSMC principle and fractional calculus technology. The equivalent output injection SMO is applied to reconstruct the full states in finite time. Meanwhile, the FO-NTSMC algorithm, based on a new proposed fractional-order switching manifold, is designed to stabilize the tracking error to equilibrium points in finite time. The corresponding stability analysis of the closed-loop system is presented using the fractional-order version of the Lyapunov stability theory. Comparative numerical simulation results are presented and analyzed to demonstrate the effectiveness of the proposed method. Finally, it is noteworthy that the proposed output feedback FO-NTSMC technique can be used to control a broad range of nonlinear second-order dynamical systems in finite time. Technology T Medicine R Science Q Jiawang Chen verfasserin aut Linyi Gu verfasserin aut In The Scientific World Journal Hindawi Limited, 2012 (2014) (DE-627)345616545 (DE-600)2075968-X 1537744X nnns year:2014 https://doi.org/10.1155/2014/838019 kostenfrei https://doaj.org/article/91f7ad11a0924a46818b437e2363e6e1 kostenfrei http://dx.doi.org/10.1155/2014/838019 kostenfrei https://doaj.org/toc/2356-6140 Journal toc kostenfrei https://doaj.org/toc/1537-744X Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_171 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_375 GBV_ILN_602 GBV_ILN_636 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2106 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2232 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 2014
allfieldsSound	10.1155/2014/838019 doi (DE-627)DOAJ045633304 (DE-599)DOAJ91f7ad11a0924a46818b437e2363e6e1 DE-627 ger DE-627 rakwb eng Yaoyao Wang verfasserin aut Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles 2014 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier For the 4-DOF (degrees of freedom) trajectory tracking control problem of underwater remotely operated vehicles (ROVs) in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC) technique is introduced in light of the equivalent output injection sliding mode observer (SMO) and TSMC principle and fractional calculus technology. The equivalent output injection SMO is applied to reconstruct the full states in finite time. Meanwhile, the FO-NTSMC algorithm, based on a new proposed fractional-order switching manifold, is designed to stabilize the tracking error to equilibrium points in finite time. The corresponding stability analysis of the closed-loop system is presented using the fractional-order version of the Lyapunov stability theory. Comparative numerical simulation results are presented and analyzed to demonstrate the effectiveness of the proposed method. Finally, it is noteworthy that the proposed output feedback FO-NTSMC technique can be used to control a broad range of nonlinear second-order dynamical systems in finite time. Technology T Medicine R Science Q Jiawang Chen verfasserin aut Linyi Gu verfasserin aut In The Scientific World Journal Hindawi Limited, 2012 (2014) (DE-627)345616545 (DE-600)2075968-X 1537744X nnns year:2014 https://doi.org/10.1155/2014/838019 kostenfrei https://doaj.org/article/91f7ad11a0924a46818b437e2363e6e1 kostenfrei http://dx.doi.org/10.1155/2014/838019 kostenfrei https://doaj.org/toc/2356-6140 Journal toc kostenfrei https://doaj.org/toc/1537-744X Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_171 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_375 GBV_ILN_602 GBV_ILN_636 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2106 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2232 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 2014
language	English
source	In The Scientific World Journal (2014) year:2014
sourceStr	In The Scientific World Journal (2014) year:2014
format_phy_str_mv	Article
institution	findex.gbv.de
topic_facet	Technology T Medicine R Science Q
isfreeaccess_bool	true
container_title	The Scientific World Journal
authorswithroles_txt_mv	Yaoyao Wang @@aut@@ Jiawang Chen @@aut@@ Linyi Gu @@aut@@
publishDateDaySort_date	2014-01-01T00:00:00Z
hierarchy_top_id	345616545
id	DOAJ045633304
language_de	englisch
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author	Yaoyao Wang
spellingShingle	Yaoyao Wang misc Technology misc T misc Medicine misc R misc Science misc Q Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles
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topic_title	Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles
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title	Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles
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title_full	Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles
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title_sort	output feedback fractional-order nonsingular terminal sliding mode control of underwater remotely operated vehicles
title_auth	Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles
abstract	For the 4-DOF (degrees of freedom) trajectory tracking control problem of underwater remotely operated vehicles (ROVs) in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC) technique is introduced in light of the equivalent output injection sliding mode observer (SMO) and TSMC principle and fractional calculus technology. The equivalent output injection SMO is applied to reconstruct the full states in finite time. Meanwhile, the FO-NTSMC algorithm, based on a new proposed fractional-order switching manifold, is designed to stabilize the tracking error to equilibrium points in finite time. The corresponding stability analysis of the closed-loop system is presented using the fractional-order version of the Lyapunov stability theory. Comparative numerical simulation results are presented and analyzed to demonstrate the effectiveness of the proposed method. Finally, it is noteworthy that the proposed output feedback FO-NTSMC technique can be used to control a broad range of nonlinear second-order dynamical systems in finite time.
abstractGer	For the 4-DOF (degrees of freedom) trajectory tracking control problem of underwater remotely operated vehicles (ROVs) in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC) technique is introduced in light of the equivalent output injection sliding mode observer (SMO) and TSMC principle and fractional calculus technology. The equivalent output injection SMO is applied to reconstruct the full states in finite time. Meanwhile, the FO-NTSMC algorithm, based on a new proposed fractional-order switching manifold, is designed to stabilize the tracking error to equilibrium points in finite time. The corresponding stability analysis of the closed-loop system is presented using the fractional-order version of the Lyapunov stability theory. Comparative numerical simulation results are presented and analyzed to demonstrate the effectiveness of the proposed method. Finally, it is noteworthy that the proposed output feedback FO-NTSMC technique can be used to control a broad range of nonlinear second-order dynamical systems in finite time.
abstract_unstemmed	For the 4-DOF (degrees of freedom) trajectory tracking control problem of underwater remotely operated vehicles (ROVs) in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC) technique is introduced in light of the equivalent output injection sliding mode observer (SMO) and TSMC principle and fractional calculus technology. The equivalent output injection SMO is applied to reconstruct the full states in finite time. Meanwhile, the FO-NTSMC algorithm, based on a new proposed fractional-order switching manifold, is designed to stabilize the tracking error to equilibrium points in finite time. The corresponding stability analysis of the closed-loop system is presented using the fractional-order version of the Lyapunov stability theory. Comparative numerical simulation results are presented and analyzed to demonstrate the effectiveness of the proposed method. Finally, it is noteworthy that the proposed output feedback FO-NTSMC technique can be used to control a broad range of nonlinear second-order dynamical systems in finite time.
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title_short	Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles
url	https://doi.org/10.1155/2014/838019 https://doaj.org/article/91f7ad11a0924a46818b437e2363e6e1 http://dx.doi.org/10.1155/2014/838019 https://doaj.org/toc/2356-6140 https://doaj.org/toc/1537-744X
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up_date	2024-07-03T16:06:12.039Z
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