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super twisting algorithm-based step-by-step sliding mode observers for nonlinear systems with unknown inputs

INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2007年第10期38卷 803-815页

作者： Floquet, T. Barbot, J. P. Ecole Cent Lille LAGIS CNRS UMR 8146 F-59651 Villeneuve Dascq France ENSEA ECS F-95014 Cergy France

This article highlights the interest of step- by- step higher order sliding mode observers for Multi- Input Multi- Output ( MIMO) nonlinear systems with unknown inputs. A structural matching condition, commenting on the possibility to design such observers and to reconstruct the unknown inputs, is derived. A finite time sliding mode observer, based on the hierarchical use of the super twisting algorithm, is developed. Then, it is shown that this observer is of interest in the. field of hybrid systems and systems with observability singularities. Lastly, it is shown through an example how to relax the usual matching condition by the means of this type of finite time sliding mode observer.

关键词： nonlinear systems unknown inputs sliding mode observers super twisting algorithm matching condition

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super twisting algorithm Based Sliding Mode Controller for Buck Converter with Constant Power Load 9

Super Twisting Algorithm Based Sliding Mode Controller for B...

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9th International Conference on Smart Grid (icSmartGrid)

作者： Kaplan, Orhan Bodur, Ferhat Gazi Univ Dept Elect Elect Engn Ankara Turkey

ISBN: (纸本)9781665445320;9781665445313

Increasing DC distribution systems and the share of renewable energy sources in energy production allows the widespread use of multiple DC/DC converter systems. Cascade converter structure, which is frequently used in multi-converter systems, exhibits constant power load behavior. Constant power load leads to the instability effect on the open-loop system due to its negative incremental impedance. However, these systems can be stable as a closed-loop by using different control techniques. Compared to conventional control methods such as PI and PID, sliding-mode control, which is one of the non-linear control methods, is a robust stance against external disturbances. In this paper, a sliding-mode controller based on a super twisting algorithm has been designed for a DC/DC buck converter feeding constant power load. The super twisting algorithm is a technique added to the sliding mode controller to suppress the chattering effect. The proposed controller ensures the stability of the system during steady state as well as provides that the output voltage remains constant whenever there is an alteration in the input voltage or constant load power. Moreover, the chattering effect, which is the most important weakness of the sliding mode control, has been significantly reduced by means of developed controller. The performance of the proposed controller has been verified by performing simulations in a MATLAB/Simulink environment.

关键词： sliding mode control super twisting algorithm constant power load

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Design of super twisting algorithm for Chattering Suppression in Machine Tools

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INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 2017年第3期15卷 1259-1266页

作者： Heng, Chiew Tsung Jamaludin, Zamberi Hashim, Ahmad Yusairi Bani Abdullah, Lokman Rafan, Nur Aidawaty Univ Teknikal Malaysia Melaka Dept Robot & Automat Fac Mfg Engn Durian Tunggal 76100 Melaka Malaysia

Sliding mode control is known for its robustness against plant uncertainties and disturbance rejection. An extension of this technique is the addition of super twisting algorithm that suppresses the chattering effect commonly observed with sliding mode control application. This paper elaborates on the design and analysis of the super twisting algorithm with focus on optimizing the gain parameters. Two main components of the sliding mode super twisting controller were designed and validated;that is, the switching function and the control laws. The traditional sliding surface was used as the switching function while control laws with continuous control action were applied. Two gain parameters of the control laws were designed and analyzed in terms of tracking error reduction and chattering effect. A Kalman-Bucy continuous filter was applied for velocity signal estimation. Fast Fourier Transform was applied on the control inputs to investigate the chattering amplitude and root mean square of the tracking error was used as performance indicator for tracking error reduction. Analyses were performed on the effect of gains variation to control performance. Experimental results showed that gain L was sensitive to chattering amplitude while gain W provided wider range of tuning. The control performance was compared to the traditional pseudo-sliding mode controller in terms of tracking error reduction and chattering effect. Results showed that the super twisting algorithm produced superior results in tracking error reduction and was effective in suppressing chattering effect compared to the pseudo-sliding mode controller.

关键词： Accuracy machine tools precision sliding mode control super twisting algorithm

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A second order sliding mode control design of a switched reluctance motor using super twisting algorithm

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SIMULATION MODELLING PRACTICE AND THEORY 2012年 25卷 106-117页

作者： Rafiq, Muhammad Rehman, Saeed-ur Rehman, Fazal-ur Butt, Qarab Raza Awan, Irfan Muhammad Ali Jinnah Univ Islamabad Pakistan CASE Islamabad Pakistan Univ Bradford Sch Comp Informat & Media Bradford BD7 1DP W Yorkshire England

A novel robust technique for speed control application of variable reluctance motor is proposed. The suggested scheme is model based and uses a mathematical model of an SR motor, and Second Order Sliding Mode Control (SOSMC) with super-twisting algorithm. Sliding mode controllers for SR motor were reported before but super twisting SOSMC have an added advantage of reduced chattering which is one of the main focuses of this work. The proposed controller gives fast dynamic response with no overshoot and nearly zero steady state error. The effectiveness of the proposed controller and its robustness to parameter variations is also confirmed by simulation results. (C) 2012 Elsevier B.V. All rights reserved.

关键词： SR motor Sliding mode control Regulation Tracking super twisting algorithm

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A new scheme of the fractional-order super twisting algorithm for asynchronous generator-based wind turbine

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ENERGY REPORTS 2023年 9卷 6311-6327页

作者： Gasmi, Hamza Benbouhenni, Habib Mendaci, Sofiane Colak, Ilhami Univ 8 Mai 1945 Guelma Dept Elect & Telecommun Lab Controle Avance LABCAV Guelma Algeria Nisantasi Univ Fac Engn & Architecture Dept Elect & Elect Engn Istanbul Turkiye Univ 8 Mai 1945 Guelma Dept Elect Engn & Automat Guelma Algeria

In this paper, the performance and efficacy of the super-twisting algorithm (STA) were improved by using fractional calculus theory (FCT). A new form is given to the STA controller based on the FCT technique to control the asynchronous generator (AG)-based wind power system (WPS). With the main focus on improving the characteristics and quality of reactive power, active power, and electric current, objective functions are calculated, including indices of ripples in active and reactive power, current and torque, and the total harmonic distortion (THD) value of the stator current. In this work, this proposed STA-FCT controller is used to obtain better performance and improve the features of the indirect field-oriented control (IFOC) for AG-based WPS. The designed AG control model has been validated using Matlab/Simulink software. In the first test, the THD of current, active power, and reactive power ripples of the AG-WPS was improved by 99.46%, 96.74%, and 94.07%, respectively. Also, the designed IFOC-STA-FCT technique provided a better dynamic response than the traditional IFOC technique. The robustness of the designed strategy was tested in the second test. In this test, the designed IFOC strategy significantly minimized the active and reactive power ripples compared to the classical IFOC technique (64.34% and 53.56%), and the THD value was tolerably decreased (98.85%) compared to the traditional IFOC strategy. While the dynamic response is always better in the case of the designed IFOC-STA-FCT technique.& COPY;2023 The Author(s). Published by Elsevier *** is an open access article under the CC BY-NC-ND license (http://***/licenses/by-nc-nd/4.0/).

关键词： Fractional calculus theory super twisting algorithm Asynchronous generator Indirect field -oriented control

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Output feedback control of a skid-steered mobile robot based on the super twisting algorithm

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CONTROL ENGINEERING PRACTICE 2017年 58卷 193-203页

作者： Salgado, I. Cruz-Ortiz, D. Camacho, O. Chairez, I. Inst Politecn Nacl Ctr Innovac & Desarrollo Tecnol Comp Mexico City DF Mexico Inst Politecn Nacl Dept Automat Control Ctr Invest & Estudios Avanzados Mexico City DF Mexico Inst Politecn Nacl Dept Bioproc Unidad Profes Interdisciplinaria Biotecnol Mexico City DF Mexico

This paper presents the design and implementation of an output feedback controller based on the super twisting algorithm (STA) that stabilizes the trajectory tracking error of a skid steered mobile robot (SSMR). The control scheme introduces a diffeomorphism based on the mathematical model of the SSMR to transform the original problem into a third order chain of integrators. In this study, the available measurements are the position and orientation of the SSMR. A modified STA working as a step by step differentiator estimates the velocity and acceleration of the mobile robot. Then, a second STA enforces the tracking of a predefined trajectory. Numerical and experimental results comparing the STA with a state feedback controller (SFC) and a first order sliding mode controller (FOSM) justify the control proposal.

关键词： Skid steered mobile robot super twisting algorithm Output based controller Step-by-step robust differentiation

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Optimal interval type-2 fuzzy fractional order super twisting algorithm: A second order sliding mode controller for fully-actuated and under-actuated nonlinear systems

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ISA TRANSACTIONS 2019年 85卷 13-32页

作者： Zakeri, Ehsan Moezi, Seyed Alireza Eghtesad, Mohammad Univ Sistan & Baluchestan Dept Mech Engn Zahedan Iran Yazd Univ Dept Mech Engn Yazd Iran Shiraz Univ Sch Mech Engn Shiraz Iran Univ British Columbia Dept Mech Engn Vancouver BC Canada

In this paper, a novel interval type-2 fuzzy fractional order super twisting algorithm (IT2FFOSTA) which is essentially a second order sliding mode controller is presented. The proposed IT2FFOSTA enhances fractional order super twisting algorithm (FOSTA) by taking advantage of an interval type-2 fuzzy fractional order sliding surface (IT2FFOSS) for some classes of fully-actuated and under-actuated nonlinear systems in presence of uncertainty. The FOSTA significantly reduces the amount of chattering and the IT2FFOSS results in decreasing the tracking error, control effort, and chattering level. In order to control under-actuated systems, a hierarchical sliding surface is employed. The multi-tracker optimization algorithm is utilized to adjust the controller's parameters;this leads to an optimal performance for the IT2FFOSTA. To examine the performance of the IT2FFOSTA, some simulation and experimental tests on three examples of different classes of fully-actuated and under-actuated systems, including ball and plate, inverted pendulum, and ball and beam systems are carried out. The simulation and experimental results demonstrate the superiority of the IT2FFOSTA in reducing the amount of chattering, tracking error, and control effort compared to those of the other control methods. (C) 2018 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： super twisting algorithm Fractional operators Interval type-2 fuzzy logic Hierarchical sliding surface MTOA Under-actuated systems

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Adaptive sliding mode control of a PEM fuel cell system based on the super twisting algorithm

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ENERGY REPORTS 2021年 7卷 3390-3399页

作者： Souissi, Ahmed INSAT Unit Res ERCO Northern Urban Ctr BP 676 Tunis 1080 Tunisia

Proton exchange membrane fuel cells (PEMFCs) are the most promising fuel cell technology because of their high power density, low operating temperature, quick startup capability, and low weight. Efficient use of the PEMFC requires keeping it working at an adequate power point and protecting fuel cells from damage problems. This work aims to extract the maximum power from the PEMFC system and protect it from membrane damage by stabilizing the hydrogen and oxygen partial pressure. To this end, a control scheme composed of a maximum power point tracking (MPPT) controller and pressure controller is proposed. The second order sliding mode control (SMC) is used to overcome the chattering phenomenon caused by the conventional SMC. The pressure control was set using the super twisting algorithm (STA). In contrast, the MPPT control was carried out using an adaptive sliding mode controller (ASMC), which combines the advantages of the traditional SMC and the STA. A comparison study is done with the traditional SMC and STA to find out the advantages of the proposed ASMC. The obtained results have been proven the effectiveness of the proposed control scheme. Furthermore, a chattering reduction of 85% has been achieved. (C) 2021 The Author. Published by Elsevier Ltd.

关键词： PEM fuel cell Maximum power point tracking Pressure stabilization Sliding mode control super twisting algorithm

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super twisting algorithm for Robust Geometric Control of a Helicopter

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2021年第3期102卷 61-61页

作者： Krishna, Akhil B. Sen, Arijit Kothari, Mangal Indian Inst Technol Kanpur Dept Aerosp Engn Kanpur Uttar Pradesh India Indian Inst Technol Kanpur Dept Elect Engn Kanpur Uttar Pradesh India

In this paper (A preliminary version of the submitted paper appeared in the Proceedings of the 2020 International Conference on Unmanned Aircraft Systems (ICUAS'20), Athens, Greece*), a robust attitude controller is proposed for a small-scale helicopter based on Multi-Variable super twisting algorithm. An interconnected hybrid model of a helicopter is considered consisting of fuselage and rotor which are modeled as a single rigid body and a disc, respectively. For designing a globally defined controller, we consider that attitude dynamics evolves on non-Euclidean space. We assume that the rotor is subjected to unknown disturbances and exact information of the helicopter parameters are unavailable due to parametric uncertainty. A attitude tracking controller using super twisting algorithm based on Second-Order sliding mode technique is proposed to ensure robustness in the presence of both unknown disturbance and parameter variation. A family of strong Lyapunov functions is used to show that the proposed controller drives the closed loop system to the sliding manifold in finite time. For the suitable choice of gain matrices, the reduced order error dynamics becomes almost globally asymptotically stable. We further show that the reduced order error dynamics is almost semi-globally exponentially stable if its trajectories starts from a specific subset. The rate of convergence can be adjusted as required by tuning the controller gains. Numerical simulations are carried out by comparing the proposed controller with the state-of-the art controllers available in the literature.

关键词： Geometric control Attitude tracking Helicopter Sliding mode control super twisting algorithm

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super twisting algorithm Based Sliding Mode Controller for Buck Converter Feeding Constant Power Load

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INTERNATIONAL JOURNAL OF RENEWABLE ENERGY RESEARCH 2022年第1期12卷 134-145页

作者： Kaplan, Orhan Bodur, Ferhat Gazi Univ Fac Technol Dept Elect Elect Engn Ankara Turkey

When the power electronic converters in the DC microgrid structure are connected in a cascade structure, they may exhibit constant power load (CPL) behavior. CPL's negative incremental impedance causes an unstable influence on in DC microgrid. However, by employing various control strategies, these systems may be made stable. When compared to traditional control methods, sliding-mode control, which is a non-linear control approach, provides a more robust response to external disturbances. In this paper, the performance of a conventional sliding-mode controller for a DC/DC buck converter feeding a CPL is improved using the super twisting algorithm. The super twisting method, which is a second-order sliding mode control algorithm, is a technique used to decrease the chattering effect of the sliding mode controller. In the proposed method, the switching rule of the conventional sliding mode control has been changed by adding super twisting control law. The proposed controller guarantees system stability during steady-state and ensures that the output voltage stays constant whether the input voltage or constant load power changes. Also, the proposed controller greatly decreased the chattering effect, which is the most major drawback of sliding mode control. The performance of the proposed controller was verified by both simulations in the MATLAB/Simulink and experimental studies. Moreover, the superiority of the proposed controller was offered by comparing it with the conventional sliding mode control.

关键词： multi-converters super twisting algorithm constant power load DC microgrid sliding mode control

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