Saturated Nonsingular Fast Sliding Mode Control for the Crane-Form Pipeline System

Area of Science:

• Petrochemical Engineering
• Control Systems Engineering
• Robotics

Background:

• Crane-form pipeline (CFP) systems are crucial for transporting chemical fluids.
• Automatic alignment of CFP systems with tank mouths is essential for efficient operations.
• Existing trajectory tracking control methods face challenges with precision and control signal stability.

Purpose of the Study:

• To develop an advanced control algorithm for precise trajectory tracking of CFP systems.
• To address the chattering phenomenon in sliding mode control for CFP applications.
• To enhance the efficiency and safety of automated fluid transfer processes.

Main Methods:

• Design of a saturated nonsingular fast terminal sliding mode (SNFTSM) controller.
• Construction of a novel sliding mode manifold using NFTSM, saturation, and signum functions.
• Stability analysis using Lyapunov equations and incorporation of boundary layer functions to mitigate chattering.

Main Results:

• The SNFTSM algorithm ensures finite-time convergence of system states.
• Chattering in the control signal is effectively reduced using boundary layer functions.
• Simulations demonstrate significant reduction in control torque amplitude (over 50% compared to NFTSM) while maintaining fast error convergence.

Conclusions:

• The SNFTSM algorithm provides a robust and efficient solution for CFP trajectory tracking.
• This control strategy enhances the performance and safety of automated petrochemical fluid transfer.
• The proposed method offers a substantial improvement over existing sliding mode control techniques for CFP systems.