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Saturated exponential super-twisting sliding mode control for bottom-following of biomimetic underwater vehicles with unmeasured velocities

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2024年第1期34卷 681-702页

作者： Gao, Liyang Qin, Hongde Li, Peng Si, Jinshuai Harbin Engn Univ Sci & Technol Underwater Vehicle Lab Harbin 150001 Peoples R China Harbin Engn Univ Yantai Res Inst Yantai Peoples R China Harbin Engn Univ Grad Sch Yantai Peoples R China

This article addresses the bottom-following problem for biomimetic underwater vehicles without translational velocity measurements in the presence of complex uncertainties and actuator saturation. A novel saturated exponential super-twisting algorithm based integral terminal sliding mode control (SESTA-ITSMC) scheme is created to ensure fast convergence and strong robustness as well as attenuate the chattering of actuators. Salient features are as follows. Instead of discontinuous term in the conventional super-twisting algorithm, a novel SESTA is developed by incorporating a fractional power term, which ensures that the system achieves a faster transient response, effectively eliminating the chattering phenomenon. Then, to deal with the unknown states and further improve the anti-interference ability of the system, the finite-time dual estimator is devised to fast and precisely estimate the translational velocities and lumped uncertainties. Finally, a finite-time anti-windup auxiliary system is proposed to compensate for the saturation constraints on actuators in real time. Finite-time convergence of estimation errors and bottom following errors is guaranteed by the Lyapunov stability theory. Comparative simulation results fully demonstrate the excellence of the proposed SESTA-ITSMC scheme.

关键词： biomimetic underwater vehicles (BUVs) bottom following dual estimator super-twisting algorithm unmeasured velocities

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An intelligent fixed-time super-twisting sliding mode control of the uncertain hybrid mechanism

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ROBOTICA 2024年第10期42卷 3532-3551页

作者： Li, Xue Gao, Guoqin Jiangsu Univ Sch Elect & Informat Engn Zhenjiang Jiangsu Peoples R China

In order to improve the global convergence performance of the super-twisting sliding mode control (STSMC) for the uncertain hybrid mechanism, especially in the high-speed scenario, and enhance the robustness of hybrid mechanism system to the uncertainties with a wide range of changes, an intelligent fixed-time super-twisting sliding mode control (IFTSTSMC) is proposed. Firstly, a fixed-time super-twisting sliding mode control (FTSTSMC) algorithm is designed by adding the exponential power terms with the fixed-time performance parameters in sliding variables and the transcendental function of the super-twisting algorithm in order to enhance the global convergence performance of the STSMC. Secondly, the existence condition of FTSTSMC for the uncertain hybrid mechanism is analyzed. The IFTSTSMC is designed by introducing RBF neural network to break through the limited range of uncertainties in FTSTSMC and enhance the robustness of hybrid mechanism system to the uncertainties with a wide range of changes. Then, the Lyapunov stability of the proposed method and the global fixed-time convergence of the system are proved theoretically. Finally, the effectiveness and superiority of the proposed control method are verified by the simulation and the automobile electro-coating conveying prototype experiment comparing with two classical finite-time sliding mode control methods.

关键词： fixed-time convergence hybrid mechanism neural network super-twisting algorithm sliding mode control

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Leak Diagnosis in Branched Pipeline Systems Based on a Robust Differentiation Scheme

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IEEE ACCESS 2024年 12卷 62162-62176页

作者： Navarro-Diaz, Adrian Delgado-Aguinaga, Jorge A. Santos-Ruiz, Ildeberto Sanchez-Torres, Juan D. Tecnol Monterrey Sch Engn & Sci Zapopan 45138 Jalisco Mexico Univ Valle Mexico Ctr Invest Innovac & Desarrollo Tecnol CIIDETEC UV Tlaquepaque 45601 Jalisco Mexico Tecnol Nacl Mexico Inst Tecnol Tuxtla Gutierrez TURIX Dynam Diag & Control Grp Tuxtla Gutierrez 29050 Mexico ITESO Dept Math & Phys Tlaquepaque 45604 Mexico

The current study addresses the problem of leak detection and isolation (LDI) in a branched pipeline system. The detection process employs a mass balance approach following mass conservation principles. The leak isolation algorithm is activated upon detecting a leak, comprising a bank of m observers corresponding to the number of pipeline branches in the system. The state-space representation of the branched pipe, derived from a classical dynamic representation of a pipeline system, incorporates two variables defining the leak: its position and magnitude. The observability condition for each observer is fulfilled, ensuring the complete reconstruction of the state. To enhance robustness, a super-twisting algorithm (STA), functioning as an exact differentiator, is introduced to estimate the time derivatives of inputs and outputs. Consequently, the complete state is reconstructed using a set of algebraic equations dependent solely on inputs, outputs, and their time derivatives. The analysis considers only the flow rates and pressure head measurements at the inlets and outlets of the pipeline system. For illustrative purposes, experimental results of five leak scenarios are presented, utilizing databases generated from a test bed plant with two branchings constructed at the Tuxtla Guti & eacute;rrez Institute of Technology.

关键词： Pipelines Mathematical models Leak detection Junctions Transient analysis Pressure measurement Observers Fault diagnosis Branched pipeline fault diagnosis leak detection robust exact differentiation super-twisting algorithm

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Disturbance Observer-Based Active Damping Control for Electrolytic Capacitor-Less PMSM Drives

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2024年第12期71卷 15383-15392页

作者： Ding, Wen Huo, Lujie Chen, Shuo Xi An Jiao Tong Univ Sch Elect Engn Xian 710049 Peoples R China

The electrolytic capacitor-less permanent magnet synchronous motor (PMSM) drives have the advantages of high-power density, low cost, and long service life. However, the interaction between the LC resonance and the negative impedance characteristic of PMSM may lead to an instability issue in the drive system. The harmonic contents near the resonant frequency in the grid-side current also increase significantly. The above issues are detrimental to achieving a high input power factor and stable control of the drive system. In this article, the impedance model of the drive system is established first to analyze the stability of the system. Secondly, a novel active damping control method is proposed to improve the stability of drive system and suppress the harmonics of grid-side current. The active damping control method in electrolytic capacitor-less system requires the information of grid-side current or rectifier output current, which is usually achieved by adding a current sensor. In contrast, a super-twisting sliding mode-based disturbance observer is designed to estimate the rectifier output current, thereby further reducing the hardware cost. The effectiveness of the proposed method is verified by experimental results.

关键词： Active damping control disturbance observer electrolytic capacitor-less permanent magnet synchronous motor (PMSM) super-twisting algorithm

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Robust Control of Golf Swing Robot Using Backstepping Based on Fuzzy Sliding-Mode and super-twisting Backstepping Sliding-Mode algorithms

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UNMANNED SYSTEMS 2025年第2期13卷 439-453页

作者： Benmansour, Souhila Demim, Fethi Messaoui, Ali Zakaria Univ Sci & Technol Oran Mohamed Boudiaf Oran AVCIS Lab Bir El Djir Algeria Ecole Mil Polytech Lab Guidance & Nav Bordj El Bahri Algiers Algeria Ecole Mil Polytech Lab Complex Syst Control & Simulators Bordj El Bahri Algiers Algeria

This paper focuses on trajectory tracking, robustness and stabilization of a golf swing robot which has been recently developed to simulate the ultra-high-speed swing motions of a golfer. The proposed control strategies are based on the Lyapunov stability theory and include Backstepping and Sliding-Mode Control based techniques. To attenuate the chattering phenomena caused by a discontinuous switching function and improve the dynamic response of the manipulator, a fuzzy system is used in this research;a Backstepping Sliding-Mode Controller (BSMC), a Backstepping Fuzzy Sliding-Mode Controller (BFSMC) and a super-twisting Backstepping Sliding-Mode Controller (STBSMC) are used to evaluate the proposed hybrid controller's BFSMC performance. The Lyapunov stability theory is used to guarantee the stability of the proposed closed-loop robot technique. Numerical simulations show the effectiveness of the proposed strategy based on the fuzzy logic mechanism under different disturbances and uncertainties.

关键词： Robust control Backstepping fuzzy logic system sliding mode super-twisting algorithm Lyapunov stability robustness

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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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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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Power Quality Improvement Through Backstepping super-twisting Control of a DFIG-Based Dual Rotor Wind Turbine System Under Grid Voltage Drop

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ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING 2024年第5期49卷 7145-7162页

作者： Yahdou, Adil Djilali, Abdelkadir Belhadj Bounadja, Elhadj Boudjema, Zinelaabidine Hassiba Benbouali Univ Chlef Fac Technol Dept Elect Engn Lab Genie Elect & Energies Renouvelables LGEER Chlef Algeria

The stator field-oriented control (SFOC) strategy, utilizing classical proportional-integral (PI) regulators for the doubly fed induction generator (DFIG) within a dual rotor wind turbine (DRWT) system, encounters several significant challenges. These challenges encompass undesirable fluctuations in stator active and reactive powers, the occurrence of a coupling effect in specific scenarios, and a lack of robustness. Moreover, the conventional SFOC demonstrates suboptimal performance in the presence of grid voltage drop scenarios. To address these issues, this study proposes the application of a backstepping super-twisting control (BSTC) strategy. The design of the controller involves integrating a super-twisting algorithm (STA) term into the control law of the classical backstepping control (BC) approach. The MATLAB simulation tests conducted on a 1500 KW DFIG-based DRWT system illustrate the clear superiority of the proposed BSTC over conventional SFOC, BC, and some previously published control methods. In the reference tracking test, the results indicate a significant reduction in the total harmonic distortion (THD) value of the stator current by 57.14% compared to SFOC and by 33.33% compared to BC. Additionally, the BSTC technique, in the same test, also reduces the steady-state error (SSE) for active power by 60% and 28.57% compared to SFOC and BC, respectively. Concerning reactive power, the proposed BSTC strategy decreases SSE by percentages estimated at 56.25% and 12.5%, respectively, compared to SFOC and BC. The computed percentages illustrate the substantial superiority of the suggested controller in enhancing power system characteristics and elevating the quality of energy.

关键词： Stator field oriented control Dual rotor wind turbine super-twisting algorithm Backstepping control Grid voltage drop scenarios DFIG

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A composite position control of flexible lower limb exoskeleton based on second-order sliding mode

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NONLINEAR DYNAMICS 2023年第2期111卷 1657-1666页

作者： Sun, Zhenxing Qiu, Jiaxin Zhu, Jinghao Li, Shenghui Nanjing Tech Univ Sch Elect Engn & Control Sci Nanjing 211816 Peoples R China Nanjing Univ Sci & Technol Sch Elect & Opt Engn Zijin Coll Nanjing 210000 Peoples R China

Aiming at the problem that the trajectory tracking error of flexible lower limb exoskeleton robot is too large under the condition of external disturbance and parameters uncertainty, a composite position control method based on second-order sliding mode control was proposed. Firstly, the flexible lower limb exoskeleton robot is modeled by Lagrange function. Secondly, considering that the system is affected not only by matched disturbance but also by unmatched disturbance, two finite time state observers are used to observe and compensate the two disturbances in real time. The super-twisting method is employed in the position control section to ensure that the trajectory tracking error of the knee joint converges to zero in finite time. Finally, the Lyapunov function proves the stability of the suggested control technique. The experimental findings reveal that the suggested control approach has a better trajectory tracking effect and resilience than classic PD control and sliding mode control, indicating its superiority.

关键词： Flexible lower limb exoskeleton Finite time state observer (FTSO) Matched disturbance super-twisting algorithm Second-order sliding mode control Unmatched disturbance

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super-twisting estimator based velocity-free robust tracking control of electro-hydraulic actuators

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INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING 2023年第2期37卷 538-552页

作者： Yin, Luyue Yang, Xiaowei Deng, Wenxiang Yao, Jianyong Nanjing Univ Sci & Technol Sch Mech Engn Nanjing 210094 Peoples R China Nanjing Univ Sci & Technol Sch Mech Engn Nanjing 210094 Peoples R China

This article develops a high-precision tracking control without velocity measurement for electro-hydraulic actuators subject to mismatched and matched disturbances. Compared with previous studies, the presented control method is attractive from a practical point of view. First, velocity signal is often approximately derived by numerical differentiation on position signal, nevertheless, accompanied heavy noise will severely deteriorate tracking performance. Thus, to avert using noise-polluted velocity signal, a third-order super-twisting algorithm (STA) is developed to achieve velocity estimation. Second, the STA-based disturbance estimator is employed to estimate and compensate mismatched and matched disturbances in finite time. Then a composite STA-based control law is constructed to achieve a velocity-free high-performance tracking control, in which an employed modified STA only with an adjustable gain is easier to be performed for practical implementation. The stability analysis reveals the proposed controller is asymptotically stable while existing time-variant disturbances. Comparative experiment results validate the superiority of the presented method.

关键词： asymptotical stability electro-hydraulic actuator mismatched and matched disturbances super-twisting algorithm velocity estimation

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