Adaptive non-singular fast terminal sliding mode control for car-like vehicles with faded neighborhood information and actuator faults

Hussein, Mahmoud, Zhang, Youmin et Liu, Zhaoheng. 2024. « Adaptive non-singular fast terminal sliding mode control for car-like vehicles with faded neighborhood information and actuator faults ». Journal of Intelligent and Robotic Systems: Theory and Applications, vol. 110, nº 2.

Prévisualisation

PDF Liu-Z-2024-28634.pdf - Version publiée Licence d'utilisation : Creative Commons CC BY. Télécharger (1MB) | Prévisualisation

Résumé

This study addresses the problem of cooperative control design for a group of car-like vehicles encountering fading channels, actuator faults, and external disturbances. It is presumed that certain followers lack direct access to the states of the leader via a directed graph. This arises challenges in maintaining synchronization and coordination within the network. The proposed control strategy utilizes non-singular fast terminal sliding mode control to accelerate consensus tracking and enhance the convergence of the overall system. This controller is designed to mitigate the impact of actuator faults in the presence of fading channels in the communication network. The effects of such issues on team performance are rigorously analyzed. Based on the Lyapunov stability principle, it has been demonstrated that the controller is capable of providing satisfactory performance for the entire system despite these challenges. Moreover, vehicle synchronization can be effectively maintained. Numerical simulations are conducted to verify the theoretical findings

Type de document:	Article publié dans une revue, révisé par les pairs
Professeur:	Professeur Liu, Zhaoheng
Affiliation:	Génie mécanique
Date de dépôt:	10 mai 2024 18:58
Dernière modification:	13 mai 2024 15:08
URI:	https://espace2.etsmtl.ca/id/eprint/28634

Actions (Authentification requise)

Dernière vérification avant le dépôt