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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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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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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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super-twisting algorithm-based Sliding Mode Observer for Open-Circuit Fault Diagnosis in PWM Voltage Source Inverter in an In-Wheel Motor Drive System

Super-Twisting Algorithm-based Sliding Mode Observer for Ope...

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IEEE International Conference on Mechatronics (ICM)

作者： Hashemi, Maliheh Stolz, Michael Watzenig, Daniel Graz Univ Technol Inst Automat & Control Graz Austria

ISBN: (纸本)9781665466615

To enhance the reliability of in-wheel motors, it is crucial to avoid failures in the motors, sensors and the motor drives. However, in-wheel motor structures formed on permanent magnet synchronous motors (PMSMs) and voltage source inverter (VSI) using pulse-width modulation (PWM) are fragile to power-converter component faults such as power switches. Furthermore, switching device faults accrue in the form of open circuits or short circuits. An open circuit fault imposes phase voltage imbalances to each phase voltage. This paper presents a new approach to detect the imbalanced phase voltage due to the open-circuit fault in the inverters employing a super-twisting algorithm-based sliding mode observer. The combination of proposed observer with the Extended Kalman filter (EKF) results in a robust observer which can be used under the noisy measurement conditions that are unavoidable in industrial applications. In addition, the simulated observer applies a model-based fault detection algorithm, enabling the fault to be isolated more easily and reliably than when using signal processing methods.

关键词： in-wheel motors voltage source inverter open switch fault diagnosis super-twisting algorithm sliding mode observer

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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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Direct yaw moment control and state observer design for four in-wheel motor drive electric vehicles based on super-twisting algorithm

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2024年第1期238卷 198-211页

作者： Xu, Tao Zhao, Youqun Zhao, Qixian Wang, Qiuwei Deng, Huifan Lin, Fen Nanjing Univ Aeronaut & Astronaut Coll Energy & Power Engn Nanjing Jiangsu Peoples R China Univ Minnesota Dept Comp Sci & Engn Minneapolis MN USA

In order to improve the handling stability for four in-wheel motor drive electric vehicles (4IWMD EVs), a novel direct yaw moment control (DYC) strategy is proposed in this paper. To begin with, the problem formulation is stated by considering modeling errors and external disturbance. To obtain direct yaw moment output, a direct yaw moment controller is given by using conventional sliding mode theory at first. In order to deal with large gains of sign function, which brings severe chattering problem in conventional first-order sling mode (FOSM) control, an improved adaptive second-order sliding mode control strategy is proposed based on super-twisting algorithm (STA) to estimate vehicle model errors and external lumped disturbance. In addition, taking the cost problem in practice into account, an integral sliding mode observer (ISMO) is constructed to estimate and calculate the actual values of sideslip angle indirectly on the basis of STA. Furthermore, a composite control strategy is proposed according to stability analysis, combining adaptive second-order sliding mode controller with ISMO. Eventually, comparative simulations are conducted in Carsim and Simulink. The results show that proposed control strategy can achieve superior tracking performance under the premise of tackling chattering phenomenon, and the response curves are smoother. Meanwhile, the influence of uncertain disturbance proves to be weakened significantly with STA-based scheme while performances of other control strategies are seriously affected, which verifies the robustness and effectiveness of proposed control strategy.

关键词： Direct yaw moment control electric vehicles sliding mode control super-twisting algorithm state observer

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Disturbance-observer-based speed control for SPMSM drives using modified super-twisting algorithm and extended state observer

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ASIAN JOURNAL OF CONTROL 2024年第3期26卷 1089-1102页

作者： Liu, Yong-Chao Laghrouche, Salah Depernet, Daniel N'Diaye, Abdoul Djerdir, Abdesslem Cirrincione, Maurizio Univ Bourgogne Franche Comte FEMTO ST Inst UMR 6174 Energy Dept CNRSUTBM Belfort France Univ South Pacific Sch Informat Technol Engn Math & Phys Suva Fiji

To address the robust speed control problem of the surface-mounted permanent-magnet synchronous motor (SPMSM) drive, a novel composite speed controller (CSC) is proposed, which consists of the modified super-twisting sliding-mode SC (STSM-SC) and the extended state observer (ESO). Regarding the motion dynamics of the SPMSM drive, the unmodeled dynamics, endogenous, and exogenous disturbances are lumped together as the total disturbance. The ESO-based feedforward compensation mechanism is used to deal with the total disturbance for the robustness improvement of the speed control achieved by the modified STSM-SC-based feedback regulation mechanism. On the basis of the field-oriented control strategy, performance comparisons of the standard STSM-SC, the ESO-based standard STSM-SC, the modified STSM-SC, and the proposed CSC are carried out on a suitably developed experimental setup. The experimental results are presented to validate the superiority of the proposed CSC.

关键词： disturbance-observer-based control extended state observer permanent-magnet synchronous motor sliding-mode control speed control super-twisting algorithm

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On the Robustness of a Modified super-twisting algorithm With Prescribed-Time Convergence

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IEEE ACCESS 2024年 12卷 58106-58113页

作者： Silva, Joao F. Santos, Davi A. Aeronaut Inst Technol BR-12228900 Sao Jose Dos Campos Brazil

This paper addresses the robustness of a novel two-stage super-twisting algorithm designed to converge within a prescribed time interval despite disturbances and model uncertainties. Initially, we introduce a method for tuning parameters that guarantees the algorithm's analytic solution will reach the origin precisely at a prescribed instant, assuming an unperturbed scenario. We then enhance this method to maintain prescribed-time convergence, even when faced with unknown bounded disturbances. The algorithm's performance is demonstrated through a numerical simulation of a state estimation problem for a perturbed damped pendulum. The results show that the estimation errors converge robustly to the origin at the prescribed time and remain there afterward.

关键词： Prescribed-time convergence robust estimation super-twisting algorithm

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A Dual-Level Adaptive Law Design for super-twisting algorithm in Sensorless IPMSM Drives

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IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS 2023年第5期59卷 5945-5956页

作者： Lin, Qilian Liu, Ling Liang, Deliang Jin, Dongsong Jia, Shaofeng Song, Han Xi An Jiao Tong Univ State Key Lab Elect Insulat & Power Equipment Shaanxi Key Lab Smart Sch Elect Engn Xian 710049 Peoples R China

This paper proposes a dual-level adaptive law for third order super-twisting extended state observer (STESO) in a hybrid sensorless IPMSM drive. According to Lyapunov stability analysis, the coefficients of a super-twisting sliding-mode observer are often constrained by a lower limit to ensure robustness. However, when working in the wide-speed region, this constraint is too ambiguous to serve as a practical tuning guideline. A dual-level adaptive STESO is proposed using equivalent control and Lyapunov stability analysis to extend the operating range while simultaneously suppressing sliding-mode ripples. A rigorous stability analysis is presented, and a tuning guideline for guaranteeing the convergence of the whole algorithm is included. Besides, at low speeds, improvements have been made in torque ripple suppression and cross-coupling effect compensation, and their effectiveness has been validated both theoretically and practically. Several effective experimental results are presented to verify the feasibility of the proposed observer on the interior PMSM drive platform.

关键词： Observers Tuning Estimation error Torque Stators Rotors Robustness super-twisting algorithm adaptive extended state observer hybrid sensorless control IPMSM

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