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A time-varying second-order sliding mode control of super-twisting based on radial basis function neural networks

JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING 2025年第6期47卷 1-13页

作者： Chen, Jiqing Zhang, Haiyan Pan, Shangtao Zhu, Tongtong Lin, Yizhong Guangxi Univ Coll Mech Engn Nanning 530004 Peoples R China

A manipulator often cannot converge rapidly within finite time and has low tracking accuracy owing to factors such as manipulator model errors and external disturbances. To address these problems, this paper proposes a time-varying second-order sliding mode control of super-twisting based on radial basis function neural networks. First, three radial basis neural networks are optimized by the gradient descent method to approximate the parameters of the dynamic model of the manipulator, thus getting rid of the dependence on the model. Second, a time-varying nonsingular fast terminal sliding mode surface is designed to achieve fast convergence in finite time. Meanwhile, an improved super-twisting algorithm is adopted in combination with the boundary layer concept, which not only eliminates the chattering but also improves the tracking accuracy. Finally, simulation experiments are carried out by simulating a 2-DOF and a 6-DOF manipulator. The results verify the effectiveness and superiority of the proposed method.

关键词： Manipulator Second-order sliding mode control super-twisting algorithm Radial basis function neural networks Trajectory tracking

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Stability preserving maps for finite-time convergence: super-twisting sliding-mode algorithm

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AUTOMATICA 2013年第2期49卷 534-539页

作者： Pico, J. Pico-Marco, E. Vignoni, A. De Battista, H. Univ Politecn Valencia Inst Automat & Informat Ind Valencia Spain Univ Nacl La Plata CONICET LEICI Fac Ingn La Plata Buenos Aires Argentina

The super-twisting algorithm (STA) has become the prototype of second-order sliding mode algorithm. It achieves finite time convergence by means of a continuous action, without using information about derivatives of the sliding constraint. Thus, chattering associated to traditional sliding-mode observers and controllers is reduced. The stability and finite-time convergence analysis have been jointly addressed from different points of view, most of them based on the use of scaling symmetries (homogeneity), or non-smooth Lyapunov functions. Departing from these approaches, in this contribution we decouple the stability analysis problem from that of finite-time convergence. A nonlinear change of coordinates and a time-scaling are used. In the new coordinates and time-space, the transformed system is stabilized using any appropriate standard design method. Conditions under which the combination of the nonlinear coordinates transformation and the time-scaling is a stability preserving map are given. Provided convergence in the transformed space is faster than O(1/tau)-where tau is the transformed time-convergence of the original system takes place in finite-time. The method is illustrated by designing a generalized super-twisting observer able to cope with a broad class of perturbations. (C) 2012 Elsevier Ltd. All rights reserved.

关键词： Stability analysis Convergence analysis Sliding mode Stability preserving maps super-twisting algorithm

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On phase deficit of the super-twisting second-order sliding mode control algorithm

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2020年第16期30卷 6351-6362页

作者： Boiko, Igor Khalifa Univ Elect Engn & Comp Sci Dept Abu Dhabi U Arab Emirates

The notion of phase deficit was introduced in [12], which allows one to determine if a nonlinear system can reveal finite-time or asymptotic convergence. twisting and suboptimal second-order sliding mode control algorithms and a conventional relay feedback system were analyzed from the perspective of the phase deficit. However, phase deficit for the super-twisting algorithm was not determined at that time due to the complexity of the problem. Therefore, although it is known that the super-twisting algorithm reveals finite-time convergence (when no parasitic dynamics are present), it was not supported by the criterion based on the phase deficit. In the current article this problem has been solved through an open-loop interpretation of the phase deficit, which is proposed in the article. Another problem addressed in the article is the relationship between the frequency characteristics of the system and the type of convergence (finite-time or asymptotic). The mechanism of convergence is analyzed through considering time-varying frequency of self-excited oscillations and phase lag of the linear part of the system.

关键词： Lure system second-order sliding mode sliding mode super-twisting algorithm

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Genetic algorithm-super-twisting technique for grid-connected PV system associate with filter

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ENERGY REPORTS 2023年 10卷 4231-4252页

作者： Debdouche, Naamane Zarour, Laid Chebabhi, Ali Bessous, Noureddine Benbouhenni, Habib Colak, Ilhami Bros Mentouri Univ Constantine 25000 Algeria Univ Msila Dept Elect Engn Msila Algeria Univ El Oued El Oued 39000 Algeria Nisantasi Univ Fac Engn & Architecture Dept Elect & Elect Engn Istanbul Turkiye

This study proposes an intelligent robust controller to improve the performance of the multifunctional grid connected photovoltaic (PV) system using the phase-locked loop (PLL). The novelty of this research is the use of a new strategy, called super-twisting algorithm (STA) based on genetic algorithm (GA) to improve the performance of the direct power control (DPC) with PLL technique and maximum power point tracking (MPPT), where DPC-STA-GA is used to control the active power filter. This proposed nonlinear technique is used to increase the power quality of the PV system under different conditions (variation of the nonlinear load, random nature of the irradiance solar and temperature,...etc). On the other hand, the STA-GA controller is successfully applied to control the DC link voltage of the multi-functional voltage source inverter. Durability and ease of implementation are among the most prominent features of the DPC-STA-GA with PLL technique to reduce the reactive and active power ripples compared to the DPC technique. The suggested intelligent nonlinear control ensures the harmonic current compensation and the transmission of PV energy to the electric grid and or the nonlinear load with high quality. To implement and verify the proposed controls with the PLL technique, Matlab software is used for this purpose, with the study of the behavior of the proposed controls based on STA-GA controllers with the PLL compared with the DPC in different conditions. The simulation results demonstrated the contribution of the DPC-STA-GA with the PLL in improving the performance, efficiency, effectiveness, and durability of the system under normal and abnormal conditions, where the proposed control reduced overshoot value in DC bus voltage by 100% compared to proportional-integral controller. In addition to reducing the value of THD of current compared to DPC and DPC-STA by 18.82% and 43.33%, respectively, in the case of solar radiation equal 1000 W/m2.

关键词： Photovoltaic system Genetic algorithm Multi-functional voltage source inverter Direct power control strategy super-twisting algorithm

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Disturbance-tailored super-twisting algorithms: Properties and design framework

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AUTOMATICA 2019年 101卷 318-329页

作者： Haimovich, Hernan De Battista, Hernan UNR CONICET Ctr Int Francoargentino Ciencias Informac & Siste RA-2000 Rosario Santa Fe Argentina Consejo Nacl Invest Cient & Tecn UNLP Inst LEICI GCA La Plata Buenos Aires Argentina

Second- and higher-order sliding mode techniques are able to avoid the chattering effect associated with first-order sliding. The super-twisting algorithm is one of the most popular second-order sliding mode techniques. Existing modifications of the super-twisting algorithm allow for improved disturbance rejection capability. In this paper, we introduce a new class of generalizations of the super-twisting algorithm that are able to keep the main advantages of standard super-twisting while rejecting disturbances bounded in forms for which the existing algorithms may be not directly applicable. Our results thus broaden the applicability of second-order sliding-mode techniques. We give conditions for stability and finite-time convergence, and provide a complete design framework based on given disturbance bounds. (C) 2018 Elsevier Ltd. All rights reserved.

关键词： Sliding modes super-twisting algorithm Stability Finite-time convergence Disturbance rejection

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Saturated super-twisting sliding mode missile guidance

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Chinese Journal of Aeronautics 2022年第10期35卷 292-300页

作者： Mian GONG Di ZHOU Xinguang ZOU School of Astronautics Harbin Institute of TechnologyHarbin 150001China School of Electronics and Information Engineering Harbin Institute of TechnologyHarbin 150001China

This paper concentrates on developing a missile terminal guidance law against a highly maneuvering target whose maneuvering acceleration is very close to that of the missile or even exceeds the missile normal acceleration in a finite period of time.A new saturated super-twisting algorithm is proposed and applied to the design of missile guidance *** proposed algorithm has the advantages of simple structure,easy parameter tuning rules and a full utilization of the limit control *** designed saturated super-twisting sliding mode guidance law is then employed in a missile guidance *** and its superior performance against strong maneuvering targets is demonstrated.

关键词： Highly maneuvering target Input saturation Missile guidance control Robust control Sliding mode control super-twisting algorithm

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Distributed Finite-Time Integral Sliding-Mode Control for Multi-Agent Systems with Multiple Disturbances Based on Nonlinear Disturbance Observers

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Journal of Systems Science & Complexity 2021年第3期34卷 995-1013页

作者： YANG Yize LIU Fan YANG Hongyong LI Yuling LIU Yuanshan School of Information and Electrical Engineering Ludong UniversityYantai 264025China

This paper proposes a finite-time consensus control algorithm based on nonlinear integral sliding-mode control for second-order multi-agent systems(MASs)with mismatched and matched ***,a nonlinear finite-time disturbance observer is established to estimate the states and mismatched disturbances of the ***,a dynamic integral sliding-mode(ISM)surface is designed by employing the estimates of mismatched ***,based on the designed ISM and disturbance observer,the discontinuous or continuous campsite control protocols are respectively developed to guarantee the consensus for MASs in finite time with active anti-disturbance ***,numerical simulation results illustrate the effectiveness of the proposed consensus control algorithm.

关键词： Finite-time consensus integral sliding-mode control mismatched disturbances multiagent systems super-twisting algorithm

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super twisting sliding mode control for a flexible air-breathing hypersonic vehicle based on disturbance observer

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Science China(Information Sciences) 2015年第7期58卷 84-98页

作者： ZONG Qun DONG Qi WANG Fang TIAN BaiLing College of Electric Engineering and Automation Tianjin University School of Science Yanshan University

A robust finite time sliding mode control strategy is proposed in this paper for a flexible air-breathing hypersonic vehicle(FAHV) model with aerodynamic parameter uncertainty. The strong coupling among the aerodynamics, the propulsion system and the flexibility effects makes the problem more challenging. Firstly, to reduce the complexity of the controller design, the FAHV model is transformed into three subsystems(velocity subsystem, altitude and flight path angle subsystem, attack of angle and pitch rate subsystem). Secondly, based on super-twisting algorithm, a novel finite time disturbance observer and an improved sliding mode controller are designed to ensure the finite time stability of each subsystem. The proposed disturbance observer can estimate the uncertainty and the derivative of virtual control in finite time. Finally, simulation results are presented to show the precision and rapidness in tracking the reference trajectory and validate the effectiveness of the designed controller.

关键词： flexible air-breathing hypersonic vehicle(FAHV) disturbance observer sliding mode control super-twisting algorithm finite time s

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Revised barrier function-based adaptive finite-and fixed-time convergence super-twisting control

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Journal of Systems Engineering and Electronics 2023年第3期34卷 775-782页

作者： LIU Dakai ESCHE Sven Department of Mechanical Engineering Stevens Institute of TechnologyHoboken 07030USA

This paper presents an adaptive gain,finite-and fixedtime convergence super-twisting-like algorithm based on a revised barrier function,which is robust to perturbations with unknown *** is shown that this algorithm can ensure a finite-and fixed-time convergence of the sliding variable to the equilibrium,no matter what the initial conditions of the system states are,and maintain it there in a predefined vicinity of the origin without ***,the proposed method avoids the problem of overestimation of the control gain that exists in the current fixed-time adaptive ***,it shows that the revised barrier function can effectively reduce the computation load by obviating the need of increasing the magnitude of sampling step compared with the conventional barrier *** feature will be beneficial when the algorithm is implemented in *** that,the estimation of the fixed convergence time of the proposed method is derived and the impractical requirement of the preceding fixed-time adaptive control that the adaptive gains must be large enough to engender the sliding mode at time t=0 is ***,the outperformance of the proposed method over the existing counterpart method is demonstrated with a numerical simulation.

关键词： super-twisting algorithm barrier function fixed-time sliding mode control adaptive control

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Nonsingular terminal sliding mode control for free-floating space manipulator with disturbance

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ACTA ASTRONAUTICA 2021年 181卷 396-404页

作者： Shao, Xiangyu Sun, Guanghui Xue, Cong Li, Xiaolei Harbin Inst Technol Dept Control Sci & Engn Harbin 150001 Peoples R China

This paper proposes a nonsingular terminal sliding mode controller (NTSMC) for free-floating space manipulators (FFSMs) to improve the transient performance and reduce unexpected base motion in the presence of disturbance. A compact dynamic model of FFSM system is first developed based on the barycenter and the Lagrangian mechanical equation. To improve the response speed of the system, a piecewise sliding surface is proposed to ensure the finite-time convergence of system states, which can also avoid the singularity existing in the traditional terminal sliding mode controller (TSMC). Considering that the disturbance has great influences on transient and steady-state performance of the FFSM, the super-twisting algorithm, which has a strong ability of disturbance rejection, is investigated and applied in the reaching phase of sliding variables. Compared with conventional controllers, the proposed control scheme has significant advantages in disturbance rejection, reducing overshoot, and shortening settling time. Besides, the motion of the spacecraft are dramatically reduced compared with existing works. Theoretical analyses are given to show the finite-time stability and the robustness to disturbance of the proposed controller. Simulations are conducted to verify the validity of the proposed method.

关键词： Free-floating space manipulator super-twisting algorithm Nonsingular terminal sliding mode control Finite-time convergence

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