Abdollah Hasan Nezhad , Mohammad Reza Soltanpour , Saeed Zaare
{"title":"基于新型快速终端解耦滑模控制的球梁系统匹配和不匹配不确定性有限时间跟踪控制","authors":"Abdollah Hasan Nezhad , Mohammad Reza Soltanpour , Saeed Zaare","doi":"10.1016/j.ymssp.2025.113283","DOIUrl":null,"url":null,"abstract":"<div><div>This paper presents a novel decoupled sliding mode controller for finite-time position tracking in ball-and-beam systems in the presence of matched and mismatched uncertainties. The proposed controller employs two fast terminal sliding surfaces and a novel coupling variable to ensure rapid and simultaneous convergence of all sliding surfaces to zero. A new reaching law is introduced to minimize chattering while ensuring finite-time asymptotic stability. Additionally, a finite-time extended state observer is employed to estimate disturbances and system states within a finite time frame, without requiring prior knowledge of uncertainty bounds. Furthermore, the finite-time convergence stability of the closed-loop system is proved in the Lyapunov framework. The control signal design is simplified, as it requires knowledge of only a small known portion of the system dynamics rather than the entire dynamics. The proposed method is validated through simulations and hardware-in-the-loop experiments, demonstrating enhanced robustness, faster convergence, and significantly reduced chattering compared to existing approaches.</div></div>","PeriodicalId":51124,"journal":{"name":"Mechanical Systems and Signal Processing","volume":"239 ","pages":"Article 113283"},"PeriodicalIF":8.9000,"publicationDate":"2025-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Finite-time tracking control for the ball and beam system based on a new fast terminal decoupled sliding mode control in the presence of matched and mismatched uncertainties\",\"authors\":\"Abdollah Hasan Nezhad , Mohammad Reza Soltanpour , Saeed Zaare\",\"doi\":\"10.1016/j.ymssp.2025.113283\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><div>This paper presents a novel decoupled sliding mode controller for finite-time position tracking in ball-and-beam systems in the presence of matched and mismatched uncertainties. The proposed controller employs two fast terminal sliding surfaces and a novel coupling variable to ensure rapid and simultaneous convergence of all sliding surfaces to zero. A new reaching law is introduced to minimize chattering while ensuring finite-time asymptotic stability. Additionally, a finite-time extended state observer is employed to estimate disturbances and system states within a finite time frame, without requiring prior knowledge of uncertainty bounds. Furthermore, the finite-time convergence stability of the closed-loop system is proved in the Lyapunov framework. The control signal design is simplified, as it requires knowledge of only a small known portion of the system dynamics rather than the entire dynamics. The proposed method is validated through simulations and hardware-in-the-loop experiments, demonstrating enhanced robustness, faster convergence, and significantly reduced chattering compared to existing approaches.</div></div>\",\"PeriodicalId\":51124,\"journal\":{\"name\":\"Mechanical Systems and Signal Processing\",\"volume\":\"239 \",\"pages\":\"Article 113283\"},\"PeriodicalIF\":8.9000,\"publicationDate\":\"2025-09-16\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Mechanical Systems and Signal Processing\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0888327025009847\",\"RegionNum\":1,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, MECHANICAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechanical Systems and Signal Processing","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0888327025009847","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
Finite-time tracking control for the ball and beam system based on a new fast terminal decoupled sliding mode control in the presence of matched and mismatched uncertainties
This paper presents a novel decoupled sliding mode controller for finite-time position tracking in ball-and-beam systems in the presence of matched and mismatched uncertainties. The proposed controller employs two fast terminal sliding surfaces and a novel coupling variable to ensure rapid and simultaneous convergence of all sliding surfaces to zero. A new reaching law is introduced to minimize chattering while ensuring finite-time asymptotic stability. Additionally, a finite-time extended state observer is employed to estimate disturbances and system states within a finite time frame, without requiring prior knowledge of uncertainty bounds. Furthermore, the finite-time convergence stability of the closed-loop system is proved in the Lyapunov framework. The control signal design is simplified, as it requires knowledge of only a small known portion of the system dynamics rather than the entire dynamics. The proposed method is validated through simulations and hardware-in-the-loop experiments, demonstrating enhanced robustness, faster convergence, and significantly reduced chattering compared to existing approaches.
期刊介绍:
Journal Name: Mechanical Systems and Signal Processing (MSSP)
Interdisciplinary Focus:
Mechanical, Aerospace, and Civil Engineering
Purpose:Reporting scientific advancements of the highest quality
Arising from new techniques in sensing, instrumentation, signal processing, modelling, and control of dynamic systems