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adaptive multivariable super-twisting algorithm for trajectory tracking of AUV under unknown disturbances

OCEAN ENGINEERING 2025年 317卷

作者： Shi, Wendian Yang, Gang Tian, Haichuan Lu, Lu Huazhong Univ Sci & Technol Sch Mech Sci & Engn Wuhan 430074 Hubei Peoples R China Naval Univ Engn Natl Key Lab Electromagnet Energy Wuhan 430030 Hubei Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan 430074 Hubei Peoples R China

Autonomous underwater vehicles (AUV) have been widely used in underwater missions. The motion model of AUV is affected by factors such as parameter uncertainty and disturbances from ocean environment. How to accurately track trajectories under unknown disturbances is a crucial issue. In this paper, an adaptive multivariable super-twisting algorithm (AMSTA) with a nonlinear extended state observer (NLESO) is developed for autonomous underwater vehicles (AUV) to reduce the trajectory tracking error and address the problem of unknown disturbance. First, a novel finite-time extended state observer is designed to estimate and compensate the uncertain nonlinear disturbance. Second, this research presents an improved adaptive multivariable super-twisting algorithm via Lyapunov theory to address the trajectory tracking problem. Finally, simulation results demonstrated the effectiveness and superiority of the proposed scheme.

关键词： Nonlinear extended state observer adaptive super-twisting algorithm Sliding mode control Trajectory tracking Nonlinear disturbance compensation

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A practical online time-varying delay estimation of remote control system based on adaptive super-twisting algorithm 4

A practical online time-varying delay estimation of remote c...

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4th IEEE Conference on Control Technology and Applications (IEEE CCTA)

作者： Deng, Yang Lechappe, Vincent Rouquet, Sebastien Moulay, Emmanuel Plestan, Franck Ecole Cent Nantes LS2N UMR CNRS 6004 Nantes France Univ Claude Bernard Lyon 1 Univ Lyon INSA Lyon ECLCNRSAmpere F-69621 Villeurbanne France Univ Poitiers XLIM UMR CNRS 7252 Poitiers France

ISBN: (数字)9781728171401

ISBN: (纸本)9781728171401

This article deals with the practical online delay estimation of remote control system by using an external signal. The external signal can be considered as a special communication loop of the remote control system, and it requires no information from the control system. The delay estimator is based on the adaptive super-twisting algorithm, it accurately estimates the time-varying delay with self-tuned parameters. Moreover, the proposed method also attenuates the effect of the channel inherent noise and deception attack via the network. Finally, this method is validated on a WiFi communication network, and some simulations are given to illustrate the performance and the robustness of the proposed method.

关键词： Delay estimation time-varying delay adaptive super-twisting algorithm

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A High-Gain Observer-Based adaptive super-twisting algorithm for DC-Link Voltage Control of NPC Converters

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ENERGIES 2020年第5期13卷 1110-1110页

作者： Shen, Xiaoning Liu, Jianxing Marquez, Abraham Luo, Wensheng Leon, Jose I. Vazquez, Sergio Franquelo, Leopoldo G. Harbin Inst Technol Dept Control Sci & Engn Harbin 150001 Peoples R China Univ Seville Elect Engn Dept Seville 41092 Spain

Acting as an interface between the grid and many energy systems, the active front-end (AFE) has been widely used in a large variety of industrial applications. In this paper, in order to ensure the fast dynamic performance and good disturbance rejection ability of the AFE, a high-gain observer (HGO) plus adaptive super-twisting algorithm (STA) for the three-level neutral-point-clamped (NPC) converter is proposed. Comparing with the conventional PI control strategy, the proposed controller implements the adaptive STA in the voltage regulator to provide a faster transient response. The gains of the adaptive STA keep varying according to the rules being reduced in steady state but increasing in transient conditions. Therefore, the chattering phenomenon is mitigated and the dynamic response is guaranteed. Additionally, to undermine the impact of external disturbances on the dc-link voltage, a high-efficiency HGO is designed in the voltage regulation loop to reject it. Experimental results based on a three-level NPC prototype are given and compared with the conventional PI method to validate the fast dynamic performance and high disturbance rejection ability of the proposed approach.

关键词： high-gain observer adaptive super-twisting algorithm three-level NPC converter

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Multivariable adaptive super-twisting Sliding Mode Resilient Control for Uncertain Nonlinear CPSs Against Actuator and Sensor Attacks

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2025年 22卷 9039-9048页

作者： Bi, Yannan Wang, Fei Ding, Pansheng Wang, Tong Qiu, Jianbin Harbin Inst Technol Res Inst Intelligent Control & Syst Harbin 150080 Peoples R China

This paper proposes an adaptive super-twisting sliding mode resilient control method for uncertain nonlinear cyber-physical systems (CPSs) subject to actuator and sensor attacks. Two super-twisting algorithms with adaptive gains are designed based on the compromised system states to counteract the effect of cyber-attacks to ensure the system states converge to a small region near zero. Furthermore, the gain overestimation problem of the sliding mode resilient controller is also discussed. Finally, a formal analysis of the closed-loop system is derived using Lyapunov function techniques. Simulation results on a two-link manipulator system validate the effectiveness of the proposed resilient control strategy Note to Practitioners-The motivation of this paper is to address the secure issues of the nonlinear cyber-physical systems, including applications in robotic manipulators, vehicle systems, and power systems. Since some devices of CPSs, such as sensor and controller components, communicate via networked channels in practice, the original system states and control signals of CPSs may be tampered by cyber-attacks, leading to unavailable system states and severe uncertainties with unknown bounds. Although the super-twisting sliding mode control (ST-SMC) method is an effective tool for dealing with uncertainties, the control gains may be overestimated due to the intermittent nature of cyber attacks, resulting in severe chattering caused by the discontinuous term of the ST-SMC method. Furthermore, it is extremely challenging when only compromised system states are available for the controller, potentially generating false commands and destroying the entire system. Therefore, based on Lyapunov theory, a novel multivariable adaptive sliding mode resilient control method with two adaptive super-twisting algorithms is proposed to mitigate the effects caused by cyber-attacks. The effectiveness of the proposed method is validated using a two-link manipulator. Note that the pr

关键词： Actuators Cyberattack Vectors Sliding mode control adaptive systems Uncertainty Upper bound Robot sensing systems Eigenvalues and eigenfunctions Cyber-physical systems adaptive super-twisting algorithm sliding mode control cyber-physical systems actuator and sensor attacks

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adaptive super-twisting sliding mode observer based positionless direct torque control strategy for PMSM

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NONDESTRUCTIVE TESTING AND EVALUATION 2025年

作者： Wang, Fangjia Gao, Minglei Qin, Jirong Peng, Zhaohui Zheng, Weiguang Guangxi Univ Sci & Technol Sch Mech & Automot Engn Liuzhou Peoples R China Dong Feng Liuzhou Automobile Co Ltd Commercial Vehicle Technol Ctr Liuzhou Peoples R China Guangxi Technol Coll Machinery & Elect Sch Automot Engn Nanning Peoples R China

A novel rotor position estimation technique utilising the super-twisting sliding mode observer (STSMO) was introduced to address diminishing reliability in position sensors of permanent magnet synchronous motors (PMSMs). A cutting-edge direct torque control (DTC) strategy for PMSM functioning without reliance on a position sensor was proposed to address the challenges of increased chattering and limited perturbation resistance resulting from fixed sliding mode parameters in standard STSMOs. This strategy employed an adaptive super-twisting sliding mode observer (ASTSMO). This method enhanced the system's response speed and estimation accuracy by facilitating online adjustment of sliding mode coefficients. A rigorous stability analysis of the observer was presented. A hyperbolic tangent function of the segmented square root was introduced as a substitute for the conventional sign function to mitigate chattering and eliminate the need for low-pass filters and phase compensation. This approach simplified the system's complexity while improving angle estimation accuracy, response speed, and observer stability. Additionally, a phase-locked loop (PLL) was used to estimate the rotor angle, which improved the accuracy of the rotor angle estimation. Comprehensive simulations and experimental validations demonstrated that the proposed ASTSMO could suppress system's chattering under varying operational conditions, exhibiting superior estimation accuracy and stability compared to the traditional STSMO.

关键词： Direct torque control sensorless control adaptive super-twisting algorithm super-twisting sliding mode observer

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A Time-Varying Gain super-twisting algorithm to Drive a SPIM

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JOURNAL OF POWER ELECTRONICS 2013年第6期13卷 955-963页

作者： Zaidi, Noureddaher Jemli, Mohamed Ben Azza, Hechmi Boussak, Mohamed Univ Tunis Res Unit C3S High Sch Sci & Tech Tunis Tunis Tunisia Ecole Cent Marseille LSIS CNRS UMR 6168 Marseille France

To acquire a performed and practical solution that is free from chattering, this study proposes the use of an adaptive super-twisting algorithm to drive a single-phase induction motor. Partial feedback linearization is applied before using a super-twisting algorithm to control the speed and stator currents. The load torque is considered an unknown but bounded disturbance. Therefore, a time-varying switching gain that does not require prior knowledge of the disturbance boundary is proposed. A simple sliding surface is formulated as the difference between the real and desired trajectories obtained from the indirect rotor flux oriented control strategy. To illustrate the effectiveness of the proposed control structure, an experimental setup around a digital signal processor (dS1104) is developed and several tests are performed.

关键词： adaptive super-twisting algorithm Chattering DSP implementation Single-Phase Induction Motor Sliding Mode Control Vector Control

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adaptive super-twisting sliding mode control of 6-DOF nonlinear and uncertain air vehicle

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AEROSPACE SCIENCE AND TECHNOLOGY 2019年 84卷 361-374页

作者： Babaei, Ali-Reza Malekzadeh, Maryam Madhkhan, Davood Malek Ashtar Univ Technol Dept Mech Engn Shahin Shahr Iran Univ Isfahan Dept Mech Engn Esfahan Iran

In this paper, to control the six degree-of-freedom non-linear unmanned aerial vehicle, two strategies are implemented using adaptive super-twisting sliding mode control approach. The first one is a single-channel controller that is designed on the basis of decoupled equations of motion. The other one is a three-channel controller that is designed based on the coupling equations of motion along with an adaptive super-twisting observer. The stability of the closed loop system of the controller-observer is proven. The comparison between the single-channel controller and the three-channel could lead us to select between a little lower efficiency and less complexity versus efficiency and more complexity. To examine the performance and robustness of these two control loops, their performances are analyzed in the presence of combined uncertainties, including aerodynamics, mass, inertial moment, sensor, and actuator disturbances and parametric uncertainties in the stage separation phase. The explosive bolt separation mechanism is assumed to perform the stage separation, and its forces, moments and disturbances are modeled as needed. Finally, the responses are compared with the classic PID controller. (C) 2018 Elsevier Masson SAS. All rights reserved.

关键词： 6DOF nonlinear model Decoupled flight dynamics adaptive sliding mode control adaptive super-twisting algorithm Uncertainties Separation mechanism

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A novel approximate finite-time convergent guidance law with actuator fault

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CLUSTER COMPUTING-THE JOURNAL OF NETWORKS SOFTWARE TOOLS AND APPLICATIONS 2019年第4-Sup期22卷 S10095-S10107页

作者： Wang, Wei Ji, Yi Lin, Defu Shi, Zhongjiao Lin, Shiyao Beijing Inst Technol Sch Aerosp Engn Beijing 100081 Peoples R China

In this paper, a novel approximate finite-time convergent guidance law for missiles is presented to accurately intercept maneuvering targets when the actuators cannot perform as well as usual. First, the governing equations are proposed according to the relationship between missile and target at engagement phase, and a typical nonlinear mathematic model of actuator efficiency is built. Then, an adaptive multiple-input-multiple-output guidance law based on super-twisting algorithm is proposed to drive the line-of-sight angular rate to converge in a small region around zero in finite time. According to the proposed adaptive law, the information about maneuverability of target is not necessary, and the parameter drift problem is also addressed by dead-time control technique. Moreover, the proposed formulation is validated by means of the detailed stability analysis with strict Lyapunov function and simulation results.

关键词： Missile guidance Actuator fault Approximate Finite-time convergence adaptive super-twisting algorithm

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Finite-time model-free robust synchronous control of multi-lift overhead cranes based on iterative learning

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL 2024年第13期46卷 2570-2584页

作者： Jin, Xinming Xu, Weimin Shanghai Maritime Univ Key Lab Marine Technol & Control Engn Minist Commun Shanghai 201306 Peoples R China

A model-free control method based on iterative learning law combined with adaptive super-twisting is proposed to realize the synchronous coordination control of multi-lift overhead crane system for the problems of inaccurate modeling, system parameter variation, and disturbance uncertainty that exist in multi-lift overhead crane system. First, a load-coupling model of the double-container overhead crane considering the deformation tangential force in the interlocking mode is established. Second, a time-varying sliding mode surface (TSMC) designed using nonlinear functions effectively improves the convergence speed of the system state. The method of iterative learning control is introduced to compensate the system dynamics to achieve model-free control, and the dynamic iterative learning control (DILC) is designed to improve the convergence speed of the error of the system and the steady-state performance. To suppress uncertainty disturbances and avoid control gain overestimation, an adaptive gain is added to the generalized super-twisting algorithm, which has the advantages of both finite-time convergence and chattering suppression, and improves the robustness and tracking performance of the multi-lift overhead crane system. The stability of the controlled system is analyzed using Lyapunov stability theory. The simulation experiments illustrate the effectiveness of the proposed synchronization control scheme.

关键词： Synchronization control interlocking model model-free control iterative learning time-varying sliding mode adaptive super-twisting algorithm

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Lane keeping of autonomous vehicles based on differential steering with adaptive multivariable super-twisting control

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MECHANICAL SYSTEMS AND SIGNAL PROCESSING 2019年 125卷 330-346页

作者： Hu, Chuan Qin, Yechen Cao, Haotian Song, Xiaolin Jiang, Kai Rath, Jagat Jyoti Wei, Chongfeng Univ Waterloo Dept Syst Design Engn Waterloo ON Canada Beijing Inst Technol Sch Mech Engn Beijing Peoples R China Hunan Univ State Key Lab Adv Design & Mfg Vehicle Body Changsha Hunan Peoples R China McMaster Univ Dept Mech Engn Hamilton ON Canada Univ Valenciennes CNRS UMR 8201 LAMIH Valenciennes France Shanghai Jiao Tong Univ Sch Mech Engn Shanghai Peoples R China

This paper investigates the lane keeping control for four-wheel independently actuated autonomous vehicles. To guarantee the vehicle safety when the active-steering motor entirely fails, the steering manoeuvre is realized by the differential drive assisted steering (DDAS) that is generated by the differential moment between the front wheels. A novel adaptive multivariable super-twisting control strategy is proposed to realize the control objective in finite time, considering the multiple unknown and mismatched disturbances of the steering system with the chattering effect removed. In the sliding surface, a nonlinear function is designed to adaptively change the damping ratio of the closed-loop system so as to improve the transient performance of the lane keeping control in the faulty steering condition. The controller design has avoided the use of the lateral velocity which is usually hard to measure in practice. Instead, the lane keeping errors and their time derivatives are estimated with a high-order sliding mode observer based on a vision system. The finite-time convergence of the closed-loop system is proved by the Lyapunov method. Results of CarSim-Simulink simulations with the proposed control strategy compared with a tradition sliding mode controller based on a high-fidelity and full-car model have verified the effectiveness and robustness of the proposed controller in the lane keeping control via DDAS with the guaranteed high performance. (C) 2018 Elsevier Ltd. All rights reserved.

关键词： Autonomous vehicles Differential drive assistance steering Lane keeping control Nonlinear sliding surface adaptive super-twisting algorithm

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