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super-twisting algorithm Backstepping Adaptive Terminal Sliding-Mode Tracking Control of Quadrotor Drones Subjected to Faults and Disturbances

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DRONES 2025年第2期9卷 82-82页

作者： Zhang, Ye Fu, Yihao Han, Zhiguo Wang, Jingyu Northwestern Polytech Univ Sch Astronaut Xian 710072 Peoples R China Natl Key Lab Air Based Informat Percept & Fus Luoyang 471009 Peoples R China

The rapid advancement of quadrotor systems has introduced significant challenges across multiple disciplines. Among these, fault tolerance and trajectory tracking in complex environments have long been recognized as critical challenges in quadrotor control research. To address issues such as rotor performance degradation and external disturbances, a novel position-attitude control system was developed, aimed to achieve precise position and attitude tracking. Initially, a dynamic model of the quadrotor was formulated, serving as the foundation for the controller design. super-twisting algorithm terminal sliding-mode control (STATSMC) was then employed within the position loop to suppress chattering by the super-twisting algorithm. Subsequently, a new super-twisting algorithm beckstepping adaptive terminal sliding-mode control (STABATSMC) was proposed to mitigate the controller output and merge enable adherence to the desired Euler angles in case of failure. This approach enables the quadrotor to accurately follow position commands and achieve the desired attitude angles. The introduction of terminal sliding-mode control enhances convergence speed and tracking precision, while the super-twisting algorithm mitigates chattering and smoothens the control output. Finally, a series of simulation experiments were conducted within the Simulink environment to validate the proposed control system. The experimental results are compared with the state-of-art terminal sliding-mode control method, demonstrating the superior performance and effectiveness of the proposed method.

关键词： quadrotor drones trajectory tracking super-twisting algorithm sliding-mode control multiple interference

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Performance enhancement for stand-alone wind energy conversion system using super-twisting algorithm

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ENERGY REPORTS 2025年 13卷 1910-1926页

作者： Tchoumtcha, Daniel Borice Dagang, Clotaire Thierry Sanjong Kenne, Godpromesse Univ Dschang IUT FOTSO Victor Bandjoun Dept Genie Elect Unite Rech Automatique & Informat Appliquee UR AIA BP 134 Bandjoun Cameroon

This paper presents the super-twisting algorithm (STA) of a permanent magnet synchronous generator (PMSG) associated with a rectifier, a bidirectional DC-DC converter, and an inverter, all controlled by pulse width modulation (PWM). The bidirectional DC-DC converter, which feeds a battery, is controlled to maintain the DC bus voltage at a desired constant value. The purpose of the developed STA is to regulate the d-axis current, monitor the maximum power point, regulate the DC bus voltage by controlling the charge/discharge of a parallel-mounted battery, and regulate the voltage at the load. The STA was studied, and the results obtained were compared with the synergetic control method and the fractional-order PI control method. The results show that the mean value of the THD of the PMSG stator current for the synergetic control is 90.1%, for the FO-PI control is 94.80%, and for the STA is 94.85%;the mean value of the THD of the current at the load terminals is 0.92% for the synergetic control, 1.371% for the FO-PI, and 0.4775% for the STA;the mean value of the THD of the voltage at the load terminals is 1.22% for the synergetic control, 1.618% for the FO-PI, and 0.595% for the STA;the mean value of the relative error in rotational speed is 4.7306e-05 for the synergetic control, 7.9849e-04 for the FO-PI, and 4.5787e-04 for the STA;the mean value of the relative error in d-axis load terminal voltage is 0.0161 for the synergetic control, 0.0035 for the FO-PI, and 0.0023 for the STA;the mean value of the relative error in DC bus voltage is 0.0156 for the synergetic control, 0.0140 for the FO-PI, and 0.0067 for the STA. Simulations performed in the Matlab/Simulink numerical environment demonstrated the effectiveness of the proposed control method when the wind power system is operated under load variations and parameter uncertainties.

关键词： Maximum power tracking Permanent magnet synchronous generator super-twisting algorithm Wind energy conversion

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A generalized super-twisting algorithm based on adaptive dual layer mechanism

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JOURNAL OF THE FRANKLIN INSTITUTE 2025年第6期362卷

作者： Li, Jianxiong Wang, Qingqing Xu, Miao Fang, Yiming Yanshan Univ Res Ctr Minist Educ Intelligent Control Syst & Intelligent Qinhuangdao Peoples R China Yanshan Univ Key Lab Ind Comp Control Engn Hebei Prov Qinhuangdao Peoples R China Univ Portsmouth Sch Comp Portsmouth England

This article proposes a generalized super-twisting algorithm based on adaptive dual-layer mechanism (GSTA-ADL), which can be regarded as an extension of the adaptive dual-layer super-twisting algorithm (ADLSTA). The GSTA-ADL not only inherits the excellent performance of ADLSTA in achieving finite time stability against Lipschitz disturbance without overestimation, but also counteracts effectively the state-dependent disturbance by means of the generalized super-twisting algorithm (GSTA) with an adaptive gain. It can be proved that the state of the resulting closed-loop system converges into the equilibrium in finite time. Simulation results are finally provided to demonstrate the effectiveness of the proposed control method.

关键词： super-twisting algorithm Adaptation Disturbance rejection

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Attitude determination for multirotor aerial vehicles using a prescribed-time super-twisting algorithm

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2025年第1期35卷 62-81页

作者： Silva, Joao Filipe Santos, Davi A. Aeronaut Inst Technol ITA Dept Mechatron BR-12228900 Sao Jose Dos Campos SP Brazil

This paper is concerned with the prescribed-time robust attitude determination (AD) of multirotor aerial vehicles (MAVs) using vector measurements from the local magnetic field and local gravity. To address this problem, we first introduce a novel modified super-twisting algorithm endowed with the prescribed-time convergence property. The x(1) state of the proposed algorithm is governed by an unbounded time-varying gain up to the prescribed settling time (PST) and by a sig function after that. Therefore, after the PST, the new algorithm coincides with the conventional super-twisting, thus showing robust stability at the origin. This prescribed-time super-twisting algorithm (PTSTA) is then applied to the formulation of a three-stage gyro-free attitude determination method for MAVs. In the first stage, the classical QUEST algorithm is used to compute a Wahba-optimal attitude estimate from the vector measurements. In the second stage, the PTSTA is employed in the formulation of a robust state estimator that provides estimates of the attitude Gibbs vector and its rate. Finally, in the third stage, these state estimates as well as the attitude kinematic equation are immediately used to compute the MAV angular velocity. The proposed robust prescribed-time gyro-free AD method is evaluated numerically, showing invariance with respect to disturbance and model uncertainty.

关键词： attitude determination multirotor aerial vehicle prescribed-time convergence super-twisting algorithm

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Generalized Multivariable super-twisting algorithm Combined with an Adaptive Dual-Layer Scheme

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JOURNAL OF CONTROL AUTOMATION AND ELECTRICAL SYSTEMS 2025年 1-12页

作者： de Azevedo Filho, Jair Luiz Nunes, Eduardo Vieira Leao Univ Fed Rio de Janeiro Elect Engn Program COPPE Cidade Univ BR-21945970 Rio De Janeiro RJ Brazil

In this paper, a generalized multivariable adaptive super-twisting algorithm is proposed. Finite-time convergence is achieved for a family of Multivariable super-twisting functions, which ensures robustness for a broader class of disturbances. Furthermore, based on the Dual-Layer adaptive scheme, the adaptation gain is able to tune the gains of the algorithm while avoiding conservative choices, even when an upper-bound for the perturbation is unknown.

关键词： Adaptive control Multivariable control super-twisting algorithm Generalized super-twisting

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super-twisting algorithm-Based Fractional-Order Sliding-Mode Control of Nonlinear Systems With Mismatched Uncertainties

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2024年第8期71卷 9510-9519页

作者： Zhou, Minghao Su, Hongyu Feng, Yong Wei, Kemeng Xu, Wei Cheng, Jiamin Harbin Univ Sci & Technol Sch Elect & Elect Engn Harbin 150080 Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China Harbin Inst Technol Sch Elect Engn & Automat Harbin 150001 Peoples R China Huazhong Univ Sci & Technol Sch Elect & Elect Engn Wuhan 430074 Peoples R China

This article proposes a fractional-order sliding-mode control (FOSMC) method based on the super-twisting algorithm to compensate for a general form of mismatch uncertainties in a class of nonlinear systems. First, a new super-twisting algorithm-based fractional-order sliding-mode virtual control law is constructed to ensure that the state trajectory can converge to the equilibrium point and avoid the singular problem caused by the system state differential with fractional powers. Furthermore, the switching term in the virtual control law is softened by a (2 alpha +1)-order integrator. Unlike the traditional boundary layer method, the fractional-order switching term in the designed control law has continuous derivatives so that a continuous actual control signal can be obtained without sacrificing control accuracy. With continuous control, the nonlinear system can respond quickly with high precision. Finally, simulation and experimental results demonstrate that the proposed control method exhibits excellent control performance in nonlinear systems with matched and mismatched uncertainties.

关键词： Chattering suppression fractional-order calculus mismatched uncertainties singular problem sliding-mode control (SMC) super-twisting algorithm

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super-twisting algorithm second-order sliding mode control for collision avoidance system based on active front steering and direct yaw moment control

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2021年第1期235卷 43-54页

作者： Liu, Jun Gao, Liang Zhang, Junjie Yan, Feng Jiangsu Univ Sch Automot & Traff Engn Zhenjiang 212013 Jiangsu Peoples R China Univ Leeds Sch Elect & Elect Engn Leeds W Yorkshire England Hunan Univ State Key Lab Adv Design & Mfg Vehicle Body Changsha Peoples R China

Active collision avoidance system has received more and more attraction, which has the capability to avoid potential accidents and reduce driver burden. This paper proposes an active collision avoidance system which consists of a path planner and a coordinated lateral controller. In the path planner, cubic B-spline is developed to obtain collision-free trajectories to bypass the obstacle by steering. Based on this, a coordinated lateral dynamic control of autonomous ground vehicles is presented to improve the accuracy and robustness of path following and simultaneously ensure vehicle stability via active front steering and direct yaw moment control. Then, second-order sliding mode control, based on super-twisting algorithm, is applied to reduce lateral offset and heading angle deviation as much as possible and avoid chattering phenomenon of tradition sliding mode control. Meanwhile, a new form of sliding mode control based on improved reaching law is devoted to forcing the vehicle state sideslip angle and yaw rate to stability envelope with less chattering in the case of low road friction coefficient. Eventually, the effectiveness and robustness of active collision avoidance system against external disturbance and parametric uncertainties are confirmed through different test cases in the MATLAB/Simulink simulation platform.

关键词： Integrated lateral dynamic control SOSMC path following super-twisting algorithm vehicle stability control

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super-twisting algorithm with fast super-twisting disturbance observer for steer-by-wire vehicles

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2021年第8期235卷 2324-2340页

作者： Yang, Yong Yan, Yunbing Xu, Xiaowei Gong, Bian Wuhan Univ Sci & Technol Sch Automobile & Traff Engn 2 Huangjiahu West Rd Wuhan 430065 Peoples R China

The control performance of a vehicle steer-by-wire (SBW) system can be seriously affected by vagaries of tyre-road conditions and external disturbance. Aiming at the problem of fast estimating and compensating the time-varying disturbance torque acting on the front wheels under different working conditions, this article presents a super-twisting algorithm (STA) combined with fast super-twisting disturbance observer (FSTDO) control scheme. At first the SBW system is modelled according to the experiment plant. Secondly, the FSTDO is designed according to SBW system model. A fast reaching law is adopted to accelerate the sliding variable convergence rate and enhance the response speed of the observer. The FSTDO-STA controller adopts STA control in closed-loop system. The control signal is continuous, so that, the chattering could be inhibited. The stability of FSTDO error dynamics and closed-loop dynamics is proved in the sense of Lyapunov. Finally, comparative verification experiments are carried out to demonstrate the validity of FSTDO-STA. The FSTDO-STA controller can quickly estimate and compensate disturbance torque under various operating conditions. Compared with other comparative algorithms, the proposed controller has some advantages in response speed, control accuracy and robustness. And it was corroborated by the experimental results.

关键词： Fast super-twisting disturbance observer super-twisting algorithm steer-by-wire sliding mode control

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super-twisting algorithm with time delay estimation for uncertain robot manipulators

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NONLINEAR DYNAMICS 2018年第2期93卷 557-569页

作者： Kali, Yassine Saad, Maarouf Benjelloun, Khalid Khairallah, Charles Mohammed V Univ Ecole Mohammadia Ingn Rabat Morocco Ecole Technol Super Montreal PQ Canada President Robot Design Inc Montreal PQ Canada

This paper proposes a super-twisting algorithm (STA) with time delay estimation (TDE) for the problem of high-accuracy tracking trajectory of robotic manipulators in the presence of uncertainties and unexpected disturbances. The TDE method is known for it capability to estimate uncertainties simply without an exact knowledge of the system dynamics. Using the estimated uncertainties, the control law is then designed based on STA to ensure robustness, finite-time convergence and chattering reduction. The stability analysis of the closed-loop system and the finite-time convergence are proved using Lyapunov theory. In order to show the effectiveness of the proposed method, simulations and experimental results were carried out on a 2-DOF rigid robot manipulator and on the 7-DOF ANAT robot arm, respectively.

关键词： super-twisting algorithm Time delay estimation Lyapunov Uncertain robot Tracking trajectory

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super-twisting algorithm in presence of time and state dependent perturbations

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INTERNATIONAL JOURNAL OF CONTROL 2018年第11期91卷 2535-2548页

作者： Castillo, I Fridman, L. Moreno, J. A. Univ Nacl Autonoma Mexico Fac Ingn Mexico City DF Mexico Univ Nacl Autonoma Mexico Inst Ingn Mexico City DF Mexico

In this paper, generalized super-twisting algorithm is applied to a class of systems whose perturbation and uncertain control coefficient are time- and state-dependent. A non-smooth strict Lyapunov function is used to... 详细信息

关键词： Sliding modes super-twisting algorithm

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