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super twisting sliding mode network congestion control based on disturbance observer

NEURAL COMPUTING & APPLICATIONS 2022年第12期34卷 9689-9699页

作者： Wang, Kun Liu, Xiaoping Jing, Yuanwei Tiangong Univ Sch Control Sci & Engn Tianjin 300387 Peoples R China Northeastern Univ Coll Informat Sci & Engn Shenyang 110819 Liaoning Peoples R China Lakehead Univ Dept Elect Engn Thunder Bay ON P7B 5E1 Canada

A robust super-twisting sliding mode control (SMC) based on a disturbance observer is firstly investigated for transmission control protocol (TCP) network systems with unknown disturbance in this paper. To reject chattering from SMC, a super-twisting algorithm (STA) based on integral SMC is introduced to TCP/AQM systems. Meanwhile, to improve the estimation accuracy of the model, a disturbance observer is designed. By selecting the appropriate sliding surface coefficients, the stability of the closed-loop control system is achieved. At last, simulation comparison results are given to illustrate the feasibility and the superiority of the proposed approach.

关键词： Network congestion control super-twisting algorithm Integral sliding mode control Disturbance observer

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Trajectory Tracking Control of a One Degree of Freedom Manipulator Based on a Switched Sliding Mode Controller With a Novel Extended State Observer Framework

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2019年第6期49卷 1110-1118页

作者： Zhao, Ling Li, Qi Liu, Bo Cheng, Haiyan Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China Yanshan Univ Hebei Prov Key Lab Heavy Machinery Fluid Power Tr Qinhuangdao 066004 Hebei Peoples R China Yanshan Univ Coll Mech Engn Hebei Prov Key Lab Heavy Machinery Fluid Power Tr Qinhuangdao 066004 Hebei Peoples R China King Fahd Univ Petr & Minerals Ctr Energy & Geo Proc Dhahran 31261 Saudi Arabia

This paper considers trajectory tracking control for a one-degree of freedom (DoF) manipulator system driven by pneumatic artificial muscles. A switched sliding mode controller is accordingly designed. In the proposed scheme, a novel extended state observer based on a generalized super-twisting algorithm is first designed to deal with internal uncertainties and external disturbances in the one-DoF manipulator system. Second, the finite time convergence of the closed-loop system with the proposed sliding mode technique is analyzed. Lastly, some experimental results are presented to show the validity and advantages of the proposed approach.

关键词： Extended state observer (ESO) finite time convergence sliding mode super-twisting algorithm trajectory tracking

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A Novel Robust super-twisting Nonsingular Terminal Sliding Mode Controller for Permanent Magnet Linear Synchronous Motors

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IEEE TRANSACTIONS ON POWER ELECTRONICS 2022年第3期37卷 2936-2945页

作者： Fu, Dongxue Zhao, Ximei Zhu, Jianguo Shenyang Univ Technol Sch Elect Engn Shenyang 110870 Peoples R China Univ Sydney Sch Elect & Informat Engn Darlington NSW 2008 Australia

For accurate position tracking and robust control of permanent magnet linear synchronous motor (PMLSM) servo systems against various uncertainties, such as parameter change, load disturbance, friction force, and so on, this article proposes a novel super-twisting nonsingular terminal sliding mode control method based on a high-order sliding mode observer. First, a dynamic model of PMLSM with uncertainties is established. A novel nonsingular terminal sliding mode function combined with the super-twisting algorithm is then proposed to design a robust super-twisting nonsingular terminal sliding mode controller, which ensures the system convergence to the equilibrium state within a finite time, effectively eliminating the chattering phenomenon and improving the system robustness. To further improve the system tracking performance and anti-interference ability, a high-order sliding mode observer is used to estimate the system uncertainties. The effective tracking performance and robustness of the proposed control method are validated by the experimental results.

关键词： Uncertainty Observers Convergence Sliding mode control Robustness Permanent magnets Permanent magnet motors Chattering nonsingular terminal sliding mode permanent magnet linear synchronous motor (PMLSM) robust control super-twisting algorithm

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Robust extended state observer-based three dimensional integrated guidance and control design for interceptors with impact angle and input saturation constraints

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ISA TRANSACTIONS 2020年 104卷 299-309页

作者： Khankalantary, Saeed Sheikholeslam, Farid Isfahan Univ Technol Dept Elect & Comp Engn Esfahan *** Iran

In this paper, a new three-dimensional integrated guidance and control (IGC) scheme, considering impact angle and actuator saturation constraints, is presented for a skid-to-turn interceptor. The proposed method is based on backstepping, command filter, sliding mode control (SMC), and super twisting extended state observer (STESO). To this end, a six-degrees-of-freedom realistic model, including errors between line-of-sight and interceptor velocity angles, model uncertainties, external disturbances, and limits for actuators, is constructed. Command filters effectively solve the explosion of complexity related to the derivative of virtual control signals in the backstepping method, and saturation limits for actuators. A combination of SMC and finite-time STESO guarantees strong robustness of the proposed IGC against lumped disturbances and target accelerations. System stability and uniformly ultimately boundedness of all states are proven using the Lyapunov stability theory. Finally, extensive numerical simulations are conducted to illustrate the effectiveness of the proposed IGC method. (C) 2020 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Integrated guidance and control Backstepping technique Command filter super-twisting algorithm Extended state observer

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Disturbance-Observer-Based Complementary Sliding-Mode Speed Control for PMSM Drives: A super-twisting Sliding-Mode Observer-Based Approach

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IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS 2021年第5期9卷 5416-5428页

作者： Liu, Yong-Chao Laghrouche, Salah Depernet, Daniel Djerdir, Abdesslem Cirrincione, Maurizio Univ Bourgogne Franche Comte UTBM French Natl Ctr Sci Res CNRSFEMTO ST InstUMR 6174Energy Dept F-90010 Belfort France Univ South Pacific Sch Phys & Engn Suva Fiji

This article proposes a novel disturbance-observer-based complementary sliding-mode (DO-CSM) speed controller for the field-oriented controlled permanent-magnet synchronous motor (FOC-PMSM) drive system. At first, the rotor speed dynamics of the PMSM drive system considering the lumped disturbance, which consists of external disturbances, parametric uncertainties, and unmodeled dynamics, is presented. Then, the classic CSM speed controller and a typical artificial neural network (ANN)-based CSM speed controller, i.e., the Elman NN (ENN)-based intelligent CSM (ENN-ICSM) speed controller for the FOC-PMSM drive system, are reviewed. Afterward, the design of the proposed DO-CSM speed controller, which combines the signum-function-based CSM controller with the super-twisting sliding-mode observer (STSMO), is presented. In such a speed controller, the rotor speed tracking control is accomplished by the adopted CSM controller, whereas the STSMO is employed to estimate and compensate for the lumped disturbance in the rotor speed dynamics. Finally, experimental comparisons among the proposed DO-CSM speed controller, the classic CSM speed controller, and three selected ENN-ICSM speed controllers are carried out. Experimental results verify the effectiveness and superiority of the proposed DO-CSM speed controller.

关键词： Rotors Torque Stators Velocity control Artificial neural networks Power electronics Synchronous motors Artificial neural network (ANN) complementary sliding-mode (CSM) control disturbance observer (DO) permanent-magnet synchronous motor (PMSM) sliding-mode observer super-twisting algorithm

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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-gain fast super-twisting sliding mode fault tolerant control for a reusable launch vehicle in reentry phase

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ISA TRANSACTIONS 2017年第Part2期71卷 380-390页

作者： Zhang, Yao Tang, Shengjing Guo, Jie Beijing Inst Technol Sch Aerosp Engn Key Lab Dynam & Control Flight Vehicle Minist Educ Beijing Peoples R China

In this paper, a novel adaptive-gain fast super-twisting (AGFST) sliding mode attitude control synthesis is carried out for a reusable launch vehicle subject to actuator faults and unknown disturbances. According to the fast nonsingular terminal sliding mode surface (FNTSMS) and adaptive-gain fast super-twisting algorithm, an adaptive fault tolerant control law for the attitude stabilization is derived to protect against the actuator faults and unknown uncertainties. Firstly, a second-order nonlinear control-oriented model for the RLV is established by feedback linearization method. And on the basis a fast nonsingular terminal sliding mode (FNTSM) manifold is designed, which provides fast finite-time global convergence and avoids singularity problem as well as chattering phenomenon. Based on the merits of the standard super twisting (ST) algorithm and fast reaching law with adaption, a novel adaptive-gain fast super-twisting (AGFST) algorithm is proposed for the finite-time fault tolerant attitude control problem of the RLV without any knowledge of the bounds of uncertainties and actuator faults. The important feature of the AGFST algorithm includes non-overestimating the values of the control gains and faster convergence speed than the standard ST algorithm. A formal proof of the finite-time stability of the closed-loop system is derived using the Lyapunov function technique. An estimation of the convergence time and accurate expression of convergence region are also provided. Finally, simulations are presented to illustrate the effectiveness and superiority of the proposed control scheme. (C) 2017 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Reusable launch vehicle Fast nonsingular terminal sliding mode super-twisting algorithm Adaptive gain Fault tolerant

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Second-order Sliding Mode Approaches for the Control of a Class of Underactuated Systems

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International Journal of Automation and computing 2015年第2期12卷 134-141页

作者： Sonia Mahjoub Faical Mnif Nabil Derbel Advanced Control and Energy Management Laboratory University of SfaxSfax Engineering School Department of Electrical and Computer Engineering Sultan Qaboos University

In this paper, first-order and second-order sliding mode controllers for underactuated manipulators are proposed. Sliding mode control(SMC) is considered as an effective tool in different studies for control systems. However, the associated chattering phenomenon degrades the system performance. To overcome this phenomenon and track a desired trajectory, a twisting, a supertwisting and a modified super-twisting algorithms are presented respectively. The stability analysis is performed using a Lyapunov function for the proposed controllers. Further, the four different controllers are compared with each other. As an illustration, an example of an inverted pendulum is considered. Simulation results are given to demonstrate the effectiveness of the proposed approaches.

关键词： Underactuated manipulator sliding mode control twisting algorithm super-twisting algorithm inverted pendulum.

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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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super-twisting Sliding Mode Control Design for Cascaded Control System of PMSG Wind Turbine

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JOURNAL OF POWER ELECTRONICS 2015年第5期15卷 1358-1366页

作者： Dinh Hieu Phan Huang, ShouDao Hunan Univ Coll Elect & Informat Engn Changsha 410082 Hunan Peoples R China Hanoi Univ Ind Fac Mech Engn Hanoi Vietnam

This study focuses on an advanced second-order sliding mode control strategy for a variable speed wind turbine based on a permanent magnet synchronous generator to maximize wind power extraction while simultaneously reducing the mechanical stress effect. The control design based on a modified version of the super-twisting algorithm with variable gains can be applied to the cascaded system scheme comprising the current control loop and speed control loop. The proposed control inheriting the well-known robustness of the sliding technique successfully deals with the problems of essential nonlinearity of wind turbine systems, the effects of disturbance regarding variation on the parameters, and the random nature of wind speed. In addition, the advantages of the adaptive gains and the smoothness of the control action strongly reduce the chatter signals of wind turbine systems. Finally, with comparison with the traditional super-twisting algorithm, the performance of the system is verified through simulation results under wind speed turbulence and parameter variations.

关键词： Maximum power point tracking Permanent magnet synchronous generator Sliding mode control super-twisting algorithm Variable wind turbine

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