Table of Contents Author Guidelines Submit a Manuscript
The Scientific World Journal
Volume 2014 (2014), Article ID 838019, 19 pages
http://dx.doi.org/10.1155/2014/838019
Research Article

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

1State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China
2Ocean College, Zhejiang University, Hangzhou 310058, China

Received 5 March 2014; Accepted 23 April 2014; Published 25 May 2014

Academic Editor: Zhen Jin

Copyright © 2014 Yaoyao Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. H. Delavari, A. N. Ranjbar, R. Ghaderi, and S. Momani, “Fractional order control of a coupled tank,” Nonlinear Dynamics, vol. 61, no. 3, pp. 383–397, 2010. View at Publisher · View at Google Scholar · View at Scopus
  2. Y. Li, Y. Q. Chen, and I. Podlubny, “Mittag-Leffler stability of fractional order nonlinear dynamic systems,” Automatica, vol. 45, no. 8, pp. 1965–1969, 2009. View at Publisher · View at Google Scholar · View at Scopus
  3. S. Bao, Y. Jian, and D. Chao, “On fractional model reference adaptive control,” The Scientific World Journal, vol. 2014, Article ID 521625, 8 pages, 2014. View at Publisher · View at Google Scholar
  4. A. Oustaloup, “From fractalty to non-integer derivation through recursivity, a property common to these two concepts: a fundamental idea from a new process control strategy,” in Proceedings of the 12th IMACS World Congress, pp. 203–208, Paris, France, 1988.
  5. S. Dadras and H. R. Momeni, “Passivity-based fractional-order integral sliding-mode control design for uncertain fractional-order nonlinear systems,” Mechatronics, vol. 23, no. 7, pp. 880–887, 2013. View at Publisher · View at Google Scholar
  6. H. Delavari, R. Ghaderi, A. Ranjbar, and S. Momani, “Fuzzy fractional order sliding mode controller for nonlinear systems,” Communications in Nonlinear Science and Numerical Simulation, vol. 15, no. 4, pp. 963–978, 2010. View at Publisher · View at Google Scholar
  7. V. I. Utkin, “Variable structure systems with sliding modes,” IEEE Transactions on Automatic Control, vol. 22, no. 2, pp. 212–222, 1977. View at Google Scholar · View at Scopus
  8. M. Xiao, “Modeling and adaptive sliding mode control of the catastrophic course of a high-speed underwater vehicle,” International Journal of Automation and Computing, vol. 10, no. 3, pp. 210–216, 2013. View at Publisher · View at Google Scholar
  9. M. Zhang and Z. Chu, “Adaptive sliding mode control based on local recurrent neural networks for underwater robot,” Ocean Engineering, vol. 45, pp. 56–62, 2012. View at Publisher · View at Google Scholar
  10. W. M. Bessa, M. S. Dutra, and E. Kreuzer, “An adaptive fuzzy sliding mode controller for remotely operated underwater vehicles,” Robotics and Autonomous Systems, vol. 58, no. 1, pp. 16–26, 2010. View at Publisher · View at Google Scholar · View at Scopus
  11. A. Bagheri and J. J. Moghaddam, “Simulation and tracking control based on neural-network strategy and sliding-mode control for underwater remotely operated vehicle,” Neurocomputing, vol. 72, no. 7–9, pp. 1934–1950, 2009. View at Publisher · View at Google Scholar · View at Scopus
  12. W. M. Bessa, M. S. Dutra, and E. Kreuzer, “Depth control of remotely operated underwater vehicles using an adaptive fuzzy sliding mode controller,” Robotics and Autonomous Systems, vol. 56, no. 8, pp. 670–677, 2008. View at Publisher · View at Google Scholar · View at Scopus
  13. J. Guo, F. Chiu, and C. Huang, “Design of a sliding mode fuzzy controller for the guidance and control of an autonomous underwater vehicle,” Ocean Engineering, vol. 30, no. 16, pp. 2137–2155, 2003. View at Publisher · View at Google Scholar · View at Scopus
  14. N. Chen, F. Song, G. Li, X. Sun, and C. Ai, “An adaptive sliding mode backstepping control for the mobile manipulator with nonholonomic constraints,” Communications in Nonlinear Science and Numerical Simulation, vol. 18, no. 10, pp. 2886–2899, 2013. View at Publisher · View at Google Scholar
  15. B. Chen, Y. Niu, and Y. Zou, “Adaptive sliding mode control for stochastic Markovian jumping systems with actuator degradation,” Automatica, vol. 49, no. 6, pp. 1748–1754, 2013. View at Publisher · View at Google Scholar
  16. J. Zhao, B. Jiang, P. Shi, and H. Liu, “Adaptive dynamic sliding mode control for near space vehicles under actuator faults,” Circuits, Systems and Signal Processing, vol. 32, no. 5, pp. 2281–2296, 2013. View at Publisher · View at Google Scholar
  17. M. Baradaran-nia, G. Alizadeh, S. Khanmohammadi, and B. F. Azar, “Optimal sliding mode control of single degree-of-freedom hysteretic structural system,” Communications in Nonlinear Science and Numerical Simulation, vol. 17, no. 11, pp. 4455–4466, 2012. View at Publisher · View at Google Scholar
  18. J. Li, W. Li, and Q. Li, “Sliding mode control for uncertain chaotic systems with input nonlinearity,” Communications in Nonlinear Science and Numerical Simulation, vol. 17, no. 1, pp. 341–348, 2012. View at Publisher · View at Google Scholar · View at Scopus
  19. M. Roopaei, B. R. Sahraei, and T. Lin, “Adaptive sliding mode control in a novel class of chaotic systems,” Communications in Nonlinear Science and Numerical Simulation, vol. 15, no. 12, pp. 4158–4170, 2010. View at Publisher · View at Google Scholar · View at Scopus
  20. M. Jin, J. Lee, P. H. Chang, and C. Choi, “Practical nonsingular terminal sliding-mode control of robot manipulators for high-accuracy tracking control,” IEEE Transactions on Industrial Electronics, vol. 56, no. 9, pp. 3593–3601, 2009. View at Publisher · View at Google Scholar · View at Scopus
  21. S. Yu, X. Yu, B. Shirinzadeh, and Z. Man, “Continuous finite-time control for robotic manipulators with terminal sliding mode,” Automatica, vol. 41, no. 11, pp. 1957–1964, 2005. View at Publisher · View at Google Scholar · View at Scopus
  22. M. Zak, “Terminal attractors for addressable memory in neural networks,” Physics Letters A, vol. 133, no. 1-2, pp. 18–22, 1988. View at Google Scholar · View at Scopus
  23. M. Zhihong, A. P. Paplinski, and H. R. Wu, “Robust MIMO terminal sliding mode control scheme for rigid robotic manipulators,” IEEE Transactions on Automatic Control, vol. 39, no. 12, pp. 2464–2469, 1994. View at Publisher · View at Google Scholar · View at Scopus
  24. Y. Feng, X. Yu, and Z. Man, “Non-singular terminal sliding mode control of rigid manipulators,” Automatica, vol. 38, no. 12, pp. 2159–2167, 2002. View at Publisher · View at Google Scholar · View at Scopus
  25. J. Yang, S. Li, J. Su, and X. Yu, “Continuous nonsingular terminal sliding mode control for systems with mismatched disturbances,” Automatica, vol. 49, no. 7, pp. 2287–2291, 2013. View at Publisher · View at Google Scholar
  26. Z. Song and K. Sun, “Nonlinear and chaos control of a micro-electro-mechanical system by using second-order fast terminal sliding mode control,” Communications in Nonlinear Science and Numerical Simulation, vol. 18, no. 9, pp. 2540–2548, 2013. View at Publisher · View at Google Scholar
  27. C. C. Yang and C. J. Ou, “Adaptive terminal sliding mode control subject to input nonlinearity for synchronization of chaotic gyros,” Communications in Nonlinear Science and Numerical Simulation, vol. 18, no. 3, pp. 682–691, 2013. View at Publisher · View at Google Scholar
  28. H. Bayramoglu and H. Komurcugil, “Nonsingular decoupled terminal sliding-mode control for a class of fourth-order nonlinear systems,” Communications in Nonlinear Science and Numerical Simulation, vol. 18, no. 9, pp. 2527–2539, 2013. View at Publisher · View at Google Scholar
  29. M. P. Aghababa, “A novel terminal sliding mode controller for a class of non-autonomous fractional-order systems,” Nonlinear Dynamics, vol. 73, no. 1-2, pp. 679–688, 2013. View at Publisher · View at Google Scholar
  30. M. P. Aghababa, “Design of a chatter-free terminal sliding mode controller for nonlinear fractional-order dynamical systems,” International Journal of Control, vol. 86, no. 10, pp. 1744–1756, 2013. View at Publisher · View at Google Scholar
  31. M. P. Aghababa, “Finite-time chaos control and synchronization of fractional-order nonautonomous chaotic (hyperchaotic) systems using fractional nonsingular terminal sliding mode technique,” Nonlinear Dynamics, vol. 69, no. 1-2, pp. 247–261, 2012. View at Publisher · View at Google Scholar
  32. S. Dadras and H. R. Momeni, “Fractional terminal sliding mode control design for a class of dynamical systems with uncertainty,” Communications in Nonlinear Science and Numerical Simulation, vol. 17, no. 1, pp. 367–377, 2012. View at Publisher · View at Google Scholar
  33. S. Dadras and H. R. Momeni, “Fractional-order dynamic output feedback sliding mode control design for robust stabilization of uncertain fractional-order nonlinear system,” Asian Journal of Control, vol. 16, no. 2, pp. 489–497, 2014. View at Publisher · View at Google Scholar
  34. J. M. Daly and D. W. L. Wang, “Output feedback sliding mode control in the presence of unknown disturbances,” Systems and Control Letters, vol. 58, no. 3, pp. 188–193, 2009. View at Publisher · View at Google Scholar · View at Scopus
  35. I. Haskara, “On sliding mode observers via equivalent control approach,” International Journal of Control, vol. 71, no. 6, pp. 1051–1067, 1998. View at Google Scholar · View at Scopus
  36. I. Podlubny, Fractional Differential Equations, Academic Press, New York, NY, USA, 1999.
  37. A. A. Kilbsa, H. M. Srivastava, and J. J. Trujillo, Theory and Applications of Fractional Differential Equations, Elsevier, Amsterdam, The Netherlands, 2006.
  38. T. I. Fossen, Guidance and Control of Ocean Vehicles, John Wiley & Sons, New York, NY, USA, 1994.
  39. D. Zhao, S. Li, and Q. Zhu, “Output feedback terminal sliding mode control for a class of second order nonlinear systems,” Asian Journal of Control, vol. 15, no. 1, pp. 237–247, 2013. View at Publisher · View at Google Scholar
  40. O. Barambones and V. Etxebarria, “Energy-based approach to sliding composite adaptive control for rigid robots with finite error convergence time,” International Journal of Control, vol. 75, no. 5, pp. 352–359, 2002. View at Publisher · View at Google Scholar · View at Scopus
  41. J. K. Hale, Ordinary Differential Equations, Krieger, Huntington, NJ, USA, 1969.
  42. M. P. Aghababa, “Comments on “Fuzzy fractional order sliding mode controller for nonlinear systems“ [Commun Nonlinear Sci Numer Simulat 15 (2010) 963–978],” Communications in Nonlinear Science and Numerical Simulation, vol. 17, no. 3, pp. 1489–1492, 2012. View at Publisher · View at Google Scholar · View at Scopus
  43. Y. Li, Y. Chen, and I. Podlubny, “Stability of fractional-order nonlinear dynamic systems: Lyapunov direct method and generalized Mittag-Leffler stability,” Computers and Mathematics with Applications, vol. 59, no. 5, pp. 1810–1821, 2010. View at Publisher · View at Google Scholar · View at Scopus