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Modified Discrete-Time super-twisting Control of PMSM Speed Regulation System: Theory and Experimentation

IEEE TRANSACTIONS ON POWER ELECTRONICS 2025年第6期40卷 7980-7993页

作者： Mei, Keqi Li, Qiyue Chen, Weile Chen, Chih-Chiang Ding, Shihong Jiangsu Univ Sch Elect & Informat Engn Zhenjiang 212013 Peoples R China Southeast Univ Sch Automat Nanjing 210096 Peoples R China Natl Cheng Kung Univ Dept Syst & Naval Mechatron Engn Tainan 70101 Taiwan

The article puts forward a modified discrete-time super-twisting (DTST) control strategy for the speed regulation system of permanent magnet synchronous motor (PMSM) to strengthen the control efficacy and resilience to disturbances in its digital execution. As opposed to the conventional DTST algorithm, the most discernible attribute for the developed scheme is to displace the discontinuous term in the conventional DTST by dint of a nonsmooth term in consequence of the constraint of the sampling frequency practically speaking. With consideration for this substitution, a flexibly tunable fractional power parameter is introduced to increase the control precision while mitigating the oscillations. The Lyapunov-based theoretical analysis is offered to rigorously validate the convergence for the correspondingly whole system. Eventually, in comparison with two existing control schemes, the effectiveness and superiority of the presented method are experimentally supported in real time through using a 1.5 kW PMSM hardware platform.

关键词： Regulation Switches Real-time systems Convergence Accuracy Torque Electronic mail Training Synchronous motors Nonlinear dynamical systems Digital control permanent magnet synchronous motor (PMSM) speed regulation super-twisting algorithm

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Observer-based adaptive super-twisting fast terminal sliding mode control for attitude of quadrotor with mismatched disturbances

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 2025年第5期239卷 881-891页

作者： Han, Shuzhen Zhang, Shanshan Li, Jianfei Zhao, Zhanshan Tiangong Univ Sch Mech Engn Tianjin Peoples R China Tiangong Univ Sch Comp Sci & Technol Tianjin Peoples R China Tiangong Univ Sch Software 399 Binshui Rd Tianjin 300387 Peoples R China

This paper presents an adaptive super-twisting fast terminal based on disturbance observer sliding mode control method for the attitude tracking of a quadrotor unmanned aerial vehicle in the presence of mismatched disturbances. The attitude tracking controller is formulated based on the introduced adaptive super-twisting technique. The utilization of dynamically adaptive gains in the controllers enhances the system's robustness while reducing chattering effects. Additionally, a non-singular fast terminal sliding surface based on finite-time disturbance observer is defined. This approach effectively addresses the issue of mismatched disturbances while accelerating the convergence of tracking error. The stability analysis of the closed-loop system is established employing Lyapunov function. Finally, the effectiveness and success of the proposed method are validated through simulation and experimental results, with further comparisons to other techniques in terms of tracking performance and robustness.

关键词： Quadrotor UAV adaptive control super-twisting algorithm disturbance observer mismatched disturbance fast terminal control

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Distributed robust fixed-time secondary frequency and voltage control of islanded microgrids with external disturbances

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ENGINEERING OPTIMIZATION 2025年

作者： Shao, Pan Mei, Xuehui Jiang, Haijun Chen, Siyu Xinjiang Univ Coll Math & Syst Sci Urumqi Peoples R China Yili Normal Univ Coll Math & Stat Yining Peoples R China

This article primarily examines the fixed-time secondary voltage and frequency control of islanded microgrids with external disturbances. First, a distributed observer is introduced to ensure that each distributed generator (DG) can accurately estimate the reference voltage level. Subsequently, a distributed integral sliding mode is constructed through the super-twisting algorithm, and the continuous super-twisting part is used to compensate for the disturbances and eliminate chattering phenomena. Furthermore, a distributed secondary control strategy is designed using the backstepping method, which can achieve fixed-time regulation of voltage and frequency in a microgrid with unknown parameters. Finally, the validity of the method is proved in MATLAB $ <^>{\circledR } $ (R)/SimPowerSystems.

关键词： Fixed-time distributed secondary control super-twisting algorithm integral sliding mode external disturbances

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Barrier Function-Based Adaptive super-twisting Integral Terminal Sliding Mode Control for a Quad-Rotor UAV

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IEEE ACCESS 2024年 12卷 3992-3999页

作者： Chen, Xinxin Guangdong Technol Coll Sch Elect & Elect Engn Zhaoqing 526110 Peoples R China

In this paper, a novel barrier function-based super-twisting integral terminal sliding mode control algorithm is proposed for a quad-rotor unmanned aerial vehicle (UAV). The approach of employing an integral terminal sliding mode control strategy is adopted to achieve an equivalent control, while the switching control law is designed using the super-twisting algorithm. The barrier function is introduced as the gain of switching control law. The integral terminal sliding mode approach guarantees that the system's initial state lies on the sliding mode surface, while also enhancing the convergence rate of the system state through exponential acceleration. super-twisting algorithm is introduced to reduce the sliding mode chattering. The barrier function can guarantee the convergence of output variables and induce a decrease in gain proportionate to the output variables. Finally, the numerical simulation results demonstrate the efficacy and exceptional performance of the proposed schemes.

关键词： Autonomous aerial vehicles Sliding mode control Convergence Three-dimensional displays Propellers Perturbation methods Trajectory Integral terminal sliding mode control super-twisting algorithm barrier function quad-rotor UAV

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Distributed Fault-Tolerant Formation Control Design via High-Order Sliding Mode for a Team of Car-Like Vehicles

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES

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IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 2024年第2期9卷 4221-4231页

作者： Hussein, Mahmoud Zhang, Youmin Liu, Zhaoheng Univ Quebec Ecole Technol Super Dept Elect Engn Montreal PQ H3C 1K3 Canada Univ Quebec Ecole Technol Super Dept Mech Engn Montreal PQ H3C 1K3 Canada Concordia Univ Dept Mech Ind & Aerosp Engn Montreal PQ H3G 1M8 Canada

This study proposes a distributed fault-tolerant formation control scheme for a team of car-like vehicles with actuator faults. The proposed method includes a fault diagnostic scheme using a high-order sliding mode observer and a reconfigurable controller based on the super-twisting algorithm. The results showed that by the proposed controller, each vehicle can detect, diagnose, and accommodate actuator faults by itself. Two control strategies are proposed: 1) When a vehicle is exposed to a partial fault, the controller accommodates the fault and enables the vehicle to continue the mission with the rest of the team members in the formation. Furthermore, it allows healthy vehicles to re-adjust their motion and move in the way for compensating the reduced capability of the faulty vehicle with degraded performance in the formation mission;2) In severe fault conditions, the proposed controller excludes the faulty vehicle and re-assigns its task to the rest of the healthy members to complete the mission. The re-assignment task for the team formation is formulated as an optimal assignment problem and is solved by the Simplex algorithm. The experimental tests have been conducted on the latest Quanser self-driving car (QCar) platform to verify the effectiveness of the proposed algorithm and ensure its capability to avoid accidents between team members.

关键词： Actuators Wheels Vehicle dynamics Fault tolerant systems Fault tolerance Intelligent vehicles Task analysis Actuator faults fault-tolerant formation control high-order sliding mode super-twisting algorithm car-like vehicles

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Modified Implicit Discretization of the super-twisting Controller

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2024年第8期69卷 5620-5626页

作者： Andritsch, Benedikt Watermann, Lars Koch, Stefan Reichhartinger, Markus Reger, Johann Horn, Martin Graz Univ Technol Inst Automat & Control A-8010 Graz Austria Tech Univ Ilmenau Control Engn Grp D-98693 Ilmenau Germany Graz Univ Technol Inst Automat & Control Christian Doppler Lab Model Based Control Complex A-8010 Graz Austria

In this article, a novel discrete-time realization of the super-twisting controller is proposed. The closed-loop system is proven to converge to an invariant set around the origin in finite time. Furthermore, the steady-state error is shown to be independent of the controller gains. It only depends on the sampling time and the unknown disturbance. The proposed discrete-time controller is evaluated comparative to previously published discrete-time super-twisting controllers by means of the controller structure and in extensive simulation studies. The continuous-time super-twisting controller is capable of rejecting any unknown Lipschitz-continuous perturbation and converges in finite time. Furthermore, the convergence time decreases, if any of the gains is increased. The simulations demonstrate that the closed-loop systems with each of the known controllers lose one of these properties, introduce discretization-chattering, or do not yield the same accuracy level as with the proposed controller. The proposed controller, in contrast, is beneficial in terms of the above described properties.

关键词： Steady-state Perturbation methods Closed loop systems Convergence Noise measurement Doppler effect Automation Backward Euler discretization discrete-time control implicit discretization sliding mode control super-twisting algorithm super-twisting control

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Adaptive non-singular fixed-time sliding mode control of moving-base underwater flexible manipulators

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NONLINEAR DYNAMICS 2024年第6期112卷 4529-4550页

作者： Huang, Hui Tang, Guoyuan Chen, Hongxuan Wang, Jianjun Han, Lijun Xie, De Huazhong Univ Sci & Technol Sch Naval Architecture & Ocean Engn Wuhan 430074 Peoples R China

This paper presents a composite controller for trajectory tracking of moving-base underwater flexible manipulators (UFM). Firstly, a dynamics model of the moving-base UFM is established, and the model is decomposed into a slow-varying subsystem and a fast-varying subsystem by using the singular perturbation method. Then, an adaptive non-singular fixed-time sliding mode controller based on a high-order sliding mode observer is proposed for the slow-varying subsystem. In this controller, the high-order sliding mode (HOSM) observers are used to estimate and compensate for lumped disturbances, and adaptive super-twisting algorithm is used to reduce sliding mode chattering, which overcomes the disadvantage that the traditional adaptive method is prone to overestimation. To further suppress the system chattering, a HOSM observer is used to obtain the flexible mode derivatives for the fast-varying subsystem to achieve the suppression of vibration modes. The main advantages of this controller are its non-singularity, fast finite-time convergence and good vibration suppression. Extensive simulation results have validated the effectiveness of the proposed control method.

关键词： Moving-base Underwater manipulators Fixed-time super-twisting algorithm Vibration suppression

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Saturated STA-based sliding-mode tracking control of AUVs: Design, stability analysis, and experiments

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OCEAN ENGINEERING 2024年 301卷

作者： Guerrero, Jesus Chemori, Ahmed Creuze, Vincent Torres, Jorge Campos, Eduardo Tecnol Nacl Mexico ITS Abasolo Mechatron Dept Abasolo Mexico Univ Montpellier LIRMM CNRS Montpellier France Natl Polytech Inst CINVESTAV Ctr Res & Adv Studies Mexico City Mexico Univ Istmo CONACYT Santo Domingo Tehuantepec Oaxaca Mexico

In this study, we developed a saturated super -twisting algorithm for autonomous underwater vehicles to address the trajectory tracking problem. On the basis of Lyapunov arguments, we performed a stability analysis of the resulting closed -loop system under the proposed controller, considering the MIMO system dynamics, parametric uncertainties, and external disturbances. Finally, we conducted several real-time experiments to demonstrate the effectiveness and robustness of the proposed control solution as compared to the traditional super -twisting algorithm.

关键词： Robust control super-twisting algorithm AUV Stability analysis Real-time experiments

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A Position-Tracking Method for Arc Motor Based on Iterative Learning super-twisting Observer and super-twisting Control

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IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS 2025年第2期13卷 2200-2210页

作者： Huang, Demin Fang, Shuhua Xu, Qiangren Southeast Univ Sch Elect Engn Nanjing 210096 Peoples R China

This article introduces a method focused on enhancing the position-tracking performance of permanent magnet arc motors (PMAMs) through the implementation of iterative learning super-twisting observer and super-twisting control (ILSTO-STC). The primary control objective is to achieve precise and reliable position-tracking. The torque ripples caused by the structure and drive system of PMAMs are the main reasons for the position-tracking error. To overcome the drawbacks of conventional sliding mode control (SMC) and the iterative learning (IL) strategy, which cannot maintain good performance when the speed changes, the proposed method uses the position-domain IL strategy to estimate the periodic component in torque ripples and super-twisting algorithm to estimate the left nonperiodic components. Finally, the estimated lumped disturbances are fed forward to the super-twisting controller to improve the disturbance rejection ability. The stability of the proposed method is proved via the Lyapunov function. The effectiveness of the proposed method is validated by simulation and experimental results.

关键词： Observers Torque Heuristic algorithms Motors Stators Prediction algorithms Magnetic domains Iterative algorithms Couplings Convergence Iterative learning (IL) strategy permanent magnet arc motor (PMAM) position-tracking super-twisting algorithm

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A multiple connected recurrent neural network based super-twisting terminal sliding mode control for quad-rotor UAV

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EUROPEAN JOURNAL OF CONTROL 2025年 83卷

作者： Li, Jixun Wu, Likai Shandong Huayu Univ Technol Dept Elect Engn Dezhou 253000 Peoples R China

Considering the complex environment in which quad-rotor unmanned aerial vehicle (UAV) perform their tasks, it is difficult to establish an accurate UAV model and obtain information about external disturbances. Aiming at the above problems, a multiple connected recurrent neural network (MCRNN) based on super-twisting algorithm (STA) terminal sliding mode control (TSMC) strategy is proposed. Due to the unknown dynamics, the equivalent control law of sliding mode control cannot be directly applied to UAVs. Therefore, the MCRNN controller is used to approximate the equivalent control rather than to estimate the dynamics of the quad-rotor UAV. All hidden layer neurons in MCRNN receive self-feedback as well as signals from other hidden layer neurons, thereby augmenting their capacity to capture intricate dynamic features. In addition, the robustness of the sliding mode is used to suppress the mismatched disturbance instead of the traditional disturbance observer. This solution is more flexible, and reduces computing costs. Lyapunov stability theory is used to ensure the finite-time stability of the whole system, and the real-time update law of MCRNN weights is derived. Finally, the proposed method is applied to a path-following task, obtaining a maximum overshoot of 4.58e-02 and the settling time of 0.935s. By comparing the results obtained by different methods, it is concluded that the proposed controller is insensitive to model parameter variations, is able to suppress mismatched disturbances, and has significant stability and robustness.

关键词： Quad-rotor UAV Terminal sliding mode control Multiple connected recurrent neural network super-twisting algorithm

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