Modelling and Fast Terminal Sliding Mode Control for Mirror-based Pointing Systems

Singh, AM; Phung, MD; Ha, QP

Modelling and Fast Terminal Sliding Mode Control for Mirror-based Pointing Systems

Singh, AM Phung, MD

Ha, QP

Permalink

Publication Type:: Conference Proceeding
Citation:: 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 2018, pp. 1158 - 1163
Issue Date:: 2018-12-18

Open Access

Copyright Clearance Process

Recently Added
In Progress
Open Access

This item is open access.

Adobe PDF

Download Accepted manuscriptAdobe PDF (1.07 MB)

View on publisher's site

View statistics

Full metadata record

Field	Value	Language
dc.contributor.author	Singh, AM	en_US
dc.contributor.author	Phung, MD https://orcid.org/0000-0002-8870-5114	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.date.available	2020-12-31T18:06:13Z
dc.date.issued	2018-12-18	en_US
dc.identifier.citation	2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 2018, pp. 1158 - 1163	en_US
dc.identifier.isbn	9781538695821	en_US
dc.identifier.uri	http://hdl.handle.net/10453/132296
dc.description.abstract	© 2018 IEEE. In this paper, we present a new discrete-time Fast Terminal Sliding Mode (FTSM) controller for mirror-based pointing systems. We first derive the decoupled model of those systems and then estimate the parameters using a nonlinear least-square identification method. Based on the derived model, we design a FTSM sliding manifold in the continuous domain. We then exploit the Euler discretization on the designed FTSM sliding surfaces to synthesize a discrete-time controller. Furthermore, we improve the transient dynamics of the sliding surface by adding a linear term. Finally, we prove the stability of the proposed controller based on the Sarpturk reaching condition. Extensive simulations, followed by comparisons with the Terminal Sliding Mode (TSM) and Model Predictive Control (MPC) have been carried out to evaluate the effectiveness of the proposed approach. A comparative study with data obtained from a real-time experiment was also conducted. The results indicate the advantage of the proposed method over the other techniques.	en_US
dc.relation.ispartof	2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018	en_US
dc.relation.isbasedon	10.1109/ICARCV.2018.8581075	en_US
dc.rights	info:eu-repo/semantics/openAccess
dc.title	Modelling and Fast Terminal Sliding Mode Control for Mirror-based Pointing Systems	en_US
dc.type	Conference Proceeding
utslib.for	0803 Computer Software	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
utslib.copyright.status	open_access	*
pubs.publication-status	Published	en_US

Abstract:

© 2018 IEEE. In this paper, we present a new discrete-time Fast Terminal Sliding Mode (FTSM) controller for mirror-based pointing systems. We first derive the decoupled model of those systems and then estimate the parameters using a nonlinear least-square identification method. Based on the derived model, we design a FTSM sliding manifold in the continuous domain. We then exploit the Euler discretization on the designed FTSM sliding surfaces to synthesize a discrete-time controller. Furthermore, we improve the transient dynamics of the sliding surface by adding a linear term. Finally, we prove the stability of the proposed controller based on the Sarpturk reaching condition. Extensive simulations, followed by comparisons with the Terminal Sliding Mode (TSM) and Model Predictive Control (MPC) have been carried out to evaluate the effectiveness of the proposed approach. A comparative study with data obtained from a real-time experiment was also conducted. The results indicate the advantage of the proposed method over the other techniques.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/132296