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Adaptive Control of a Constrained First Order Sliding Mode for Visual Formation Convergence Applications

Keshavan, J and Belgaonkar, S and Murali, S (2023) Adaptive Control of a Constrained First Order Sliding Mode for Visual Formation Convergence Applications. In: IEEE Access, 11 . pp. 112263-112275.

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Official URL: https://doi.org/10.1109/ACCESS.2023.3323896


Most existing solutions that guarantee finite-time convergence of a constrained first-order sliding mode either assume that the structure of the perturbation is known apriori, or the perturbation and its derivative are bounded by unknown constants. Moreover, convergence is usually guaranteed only in a small domain of attraction of the predefined constrained region through discontinuous control action. In contrast with these approaches, the sliding mode is assumed to be subject to perturbations with a state-dependent structure in this study, and two adaptive integral control strategies are proposed that guarantee finite-time convergence of this perturbed sliding mode from any initial condition within the predefined constrained region. First, an invertible nonlinear map is used to transform the constrained system into a constraint-free system, and an adaptive integral control strategy is used to guarantee finite-time convergence of the resulting sliding mode to a uniform ultimate bound using continuous and bounded control action. Subsequently, an alternative barrier-function based adaptive control policy is synthesized that ensures sliding mode convergence in a prescribed time to a prescribed bound that is independent of the magnitude of the perturbation term. Experimental studies of vision-based leader-follower formation control are used to validate and demonstrate superior performance of the proposed schemes compared to leading alternative designs. © 2013 IEEE.

Item Type: Journal Article
Publication: IEEE Access
Publisher: Institute of Electrical and Electronics Engineers Inc.
Additional Information: The copyright for this article belongs to author.
Keywords: Adaptive control systems; Finite element method; Mathematical transformations; Perturbation techniques; Uncertainty analysis, Adaptive Control; Convergence; Finite element analyse; Finite-time convergence; Perturbation method; Sliding modes; Sliding-mode control; State constraints; State-dependent uncertainty; Uncertainty; Upper Bound, Sliding mode control
Department/Centre: Division of Mechanical Sciences > Mechanical Engineering
Date Deposited: 04 Mar 2024 09:56
Last Modified: 04 Mar 2024 09:56
URI: https://eprints.iisc.ac.in/id/eprint/84402

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