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Adaptive Fractional-Order Non-Singular Fast Terminal Sliding Mode Control Based on Fixed Time Disturbance Observer for Manipulators

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IEEE ACCESS 2022年 10卷 76504-76511页

作者： Zhang, Xin Quan, Ying Lanzhou Jiaotong Univ Sch Automat & Elect Engn Lanzhou 730070 Peoples R China Gansu Prov Engn Res Ctr Artificial Intelligence & Graph & Image Proc Lanzhou 730070 Peoples R China

In this study, with the help of a disturbance observer, an adaptive fractional-order sliding mode control scheme is designed to achieve trajectory tracking control of indeterminate manipulators. Firstly, the fractional-order non-singular fast terminal sliding mode (FO-NFTSM) surface is presented to increase the convergence velocity of the controller. Secondly, the adaptive reaching law is designed on the strength of the super-twisting algorithm to ensure the control performance of the approaching stage. Meanwhile, aiming at the compound disturbance existing in the manipulator system, an adaptive fixed-time sliding mode disturbance observer (AFSMDO) is introduced to settle the problem, which can estimate the lumped disturbance in real-time. Moreover, compensate for the system and raise the precision of the controller. The Lyapunov method is applied to certify the stability of the control system. Simulation experiments verify the superior property of the controller designed in this article.

关键词： Manipulator dynamics Sliding mode control Robustness Convergence Heuristic algorithms Disturbance observers Trajectory tracking Manipulator terminal sliding mode super-twisting algorithm fixed-time disturbance observer

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Learning-based super-twisting sliding-mode control for space circumnavigation mission with suboptimal reaching under input constraints

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2022年第9期32卷 5328-5349页

作者： Dong, Hanlin Yang, Xuebo Harbin Inst Technol Res Inst Intelligent Control & Syst Sch Astronaut Harbin 150001 Peoples R China

The problem of attitude-orbit synchronous finite-time control for the space circumnavigation (SCN) mission with input constraints is investigated in this research article. A novel terminal sliding-mode (TSM) manifold with nonsingular first derivative is developed to ensure that the sliding-mode reduced-order system is practical finite-time stable. Then, the learning-based adaptive dynamic programming (ADP) technique is adopted to design a super-twisting sliding-mode control scheme, so that the proposed TSM is suboptimal reached. Especially, benefited from the introduction of two nonlinear performance indexes, the proposed sliding-mode control strategy satisfies the saturation constraint of the propulsion system, and the weight update rate of the actor-critic (AC) network will not be too large, even if the initial value of the system is too large. Finally, the simulation results show that both attitude and orbital tracking errors in the SCN mission are forced to converge to a small neighborhood containing the origin synchronously under input saturation constraints.

关键词： input constraints learning-based nonlinear optimal control terminal sliding-mode control super-twisting algorithm 6-DOF synchronous control

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Research on Voltage Stabilization Method of Power System with Constant Power Load 35

Research on Voltage Stabilization Method of Power System wit...

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35th Chinese Control and Decision Conference (CCDC)

作者： Jia, Yifan Liu, Zhen Ni, Yongliang Song, Keling Qi, Yufei Northeast Univ Coll Informat Sci & Engn Shenyang Peoples R China China Northern Vehicle Res Inst Beijing Peoples R China

ISBN: (纸本)9798350334722

In order to solve the phenomenon of bus voltage resonance instability caused by the negative impedance characteristics of constant power load in DC power system, a sliding mode controller based on overtorsion algorithm was designed. Firstly, the space state equation of the converter is derived according to the switching state of the converter, and a sliding surface is created using the error between the inductor current and the output voltage of the converter. Then, the convergence and stability of the sliding mode are judged by combining the super twisting algorithm with Lyapunov theorem. Finally, the simulation software Matlab/Simulink is used to verify the controller. The experimental results show that the controller has a robust and fast dynamic response to the external interference of the load side and the source converter side.

关键词： DC power system constant power load sliding mode control super-twisting algorithm

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Sliding mode control for offshore parallel antenna platform with large orientation workspace

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ISA TRANSACTIONS 2022年第PartB期128卷 90-108页

作者： He, Yuhang Wu, Yaozhong Li, Weijia Huazhong Univ Sci & Technol Sch Naval Architecture & Ocean Engn Wuhan Peoples R China Collaborat Innovat Ctr Adv Ship & Deep Sea Explora Shanghai Peoples R China Hubei Key Lab Naval Architecture & Ocean Engn Hydr Wuhan Peoples R China Wuhan Univ Sci & Technol Sch Automobile & Traff Engn Wuhan Peoples R China 1037 Luoyu Rd Wuhan Hubei Peoples R China

A novel sliding mode control strategy is proposed to solve the trajectory tracking control problem of an offshore antenna platform, which uses a Stewart-type parallel mechanism and has a large orientation workspace. To obtain comprehensive posture parameters of the offshore antenna platform, a posture compensation algorithm using the information of azimuth and elevation is proposed. Considering known limb lengths, a state observer which based on a super-twisting algorithm is presented to obtain limb velocities. To solve the trajectory-tracking control problem of the platform, a modified nonsingular terminal integral sliding mode controller is proposed. To reduce chattering, the sliding mode controller is equipped with a higher order super-twisting algorithm. The Lyapunov theory was used to prove its stability. Simulation results on a large-orientation workspace offshore antenna platform demonstrate its superiority over three other controllers. Compared with the traditional sliding mode controller with super-twisting algorithm, the integral of the squared error of the proposed control strategy is 49.49% lower.(c) 2021 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Offshore antenna platform Parallel mechanism Large orientation workspace super-twisting algorithm Terminal sliding mode

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Observer-Based Sliding-Mode Control for Grid-Connected Power Converters Under Unbalanced Grid Conditions

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2022年第1期69卷 517-527页

作者： Yin, Yunfei Vazquez, Sergio Marquez, Abraham Liu, Jianxing Leon, Jose I. Wu, Ligang Franquelo, Leopoldo G. Harbin Inst Technol Control Sci & Engn Harbin 150001 Peoples R China Harbin Inst Technol Dept Control Sci & Engn Harbin 150001 Peoples R China Univ Seville Elect Engn Dept Seville 41092 Spain

This article proposes a novel robust control strategy for three-phase power converters operated under unbalanced grid conditions. A consolidated control objective is obtained in the stationary alpha beta frame, which can be flexibly adjusted according to the degree of oscillation in the active and reactive powers and the balance of the three-phase current. Based on the dynamics of the converter and control objective, a control scheme in a cascaded framework is presented, in which an adaptive observer is applied to estimate the positive and negative sequences of the grid voltage. In the current tracking loop, a super-twisting algorithm current controller coupled with a super-twisting differentiator is implemented to track the current references, featuring rapid dynamics, and improved robustness. Additionally, in the voltage regulation loop, an effective composite controller is developed to regulate the dc-link voltage, where a super-twisting observer is used to estimate the load disturbance, thereby improving the performance of the converter. The experimental results are provided to confirm the effectiveness and superiority of the proposed control strategy.

关键词： Power converter super-twisting algorithm super-twisting differentiator super-twisting observer unbalanced grid

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Event-triggered output feedback sliding mode control of mechanical systems

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NONLINEAR DYNAMICS 2022年第4期107卷 3543-3555页

作者： Yan, Yan Wang, Rui Yu, Shuanghe Wang, Chaoli Li, Tieshan Dalian Maritime Univ Coll Marine Elect Engn Dalian 116026 Peoples R China Univ Shanghai Sci & Technol Dept Control Sci & Engn Shanghai 200093 Peoples R China Univ Elect Sci & Technol China Sch Automat Engn Chengdu 611731 Peoples R China

This paper is concerned with event-triggered sliding mode control (SMC) for uncertain mechanical systems subject to limited communication capacity. We consider the scenario where samplings of the system output and of the control input are generated by two different event-triggered strategies. An event-triggered mechanism is incorporated in the sensor to decide when the position information is transmitted from the sensor to observer. The super-twisting algorithm (STA)-based observer is developed to recover the unmeasured velocities by using event-triggered sampling of the position information. Besides, an SMC law is proposed and an input event-triggered mechanism is introduced to decide when the control signal is transmitted over the network to the actuator side. The stability for the overall closed-loop system is analyzed. It is proved that under the proposed output and input event-triggered strategies, there is no Zeno behavior exhibited. Examples are finally presented to illustrate the effectiveness of the proposed event-triggered STA-based observer and the event-triggered SMC scheme.

关键词： Event-triggered sampling Sliding mode control super-twisting algorithm Observation accuracy

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The Load Frequency Control by Adaptive High Order Sliding Mode Control Strategy

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IEEE ACCESS 2022年 10卷 25392-25399页

作者： Guo, Jianping Univ Elect Sci & Technol China Zhongshan Inst Sch Mech & Elect Engn Zhongshan 528406 Peoples R China

Sliding mode control (SMC) has the attractiveness of robustness to the system model uncertainties and disturbance, which has wide applications in power system, power electronics, and vehicle suspension system. However, it also has a drawback of chattering. To decrease the chattering phenomenon, this study develops a novel adaptive high-order sliding mode control (HOSMC), which has the benefit of parameterizable unmodeled dynamics compared with the HOSMC method. The proposed method can be employed for load frequency control with nonlinearities. The simulations are based on two and three areas of the power system with load frequency control. From the simulation results, it is apparent that the frequency deviation and ACE (area control error) converge to zero when using the proposed method. In addition, the simulation results validate the robustness of the proposed method in the case of parameters change. The oscillation and chattering can be attenuated more by the raised adaptive HOSMC compared to the super-twisting (ST) algorithm, which verifies the advantages of the proposed adaptive HOSMC scheme.

关键词： Frequency control Control systems Sliding mode control Load modeling Uncertainty Switches Robustness Adaptive high-order sliding mode control super-twisting algorithm nonlinearities frequency deviation ACE

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Robust nonlinear sliding mode controllers for single-phase inverter interfaced distributed energy resources based on super twisting algorithms

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ISA TRANSACTIONS 2022年 123卷 61-75页

作者： Barzegar-Kalashani, Mostafa Tousi, Behrouz Mahmud, Md. Apel Farhadi-Kangarlu, Mohammad Urmia Univ Fac Elect & Comp Engn Orumiyeh Iran Deakin Univ Sch Engn Elect Power & Energy Syst Res Lab EPESRL Waurn Ponds Vic 3216 Australia

This paper presents a voltage control mode (VCM)-based super-twisting algorithm-sliding mode controller (STA-SMC) and current control mode (CCM)-based STA-SMC for islanded and grid-connected operations of single-phase inverters interfaced with distributed energy resources (DERs), respectively. The external disturbances are modeled by considering the effects of load currents or load voltages depending on operational modes whiles parametric uncertainties are modeled based on their variations from nominal values. Therefore, the proposed controllers are robust against external disturbances, parametric uncertainties, and variations in loading conditions. Simulation studies are conducted in the MATLAB/Simulink platform for both single and multiple DERs which are interfaced through single -phase inverters to the main grid or loads. The results are also analyzed through comparative studies with different controllers and it is found that the proposed controllers perform better than existing controllers. (c) 2021 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Nonlinear control Power quality Harmonic suppression Voltage/current control super-twisting algorithm

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Continuous Higher-Order Sliding Mode Control for a Class of n-th Order Perturbed Systems

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS 2022年第7期69卷 3179-3183页

作者： Li, Jianxiong Liu, Xinjian Xu, Miao Fang, Yiming Yanshan Univ Dept Automat Sch Elect Engn West Campus Qinhuangdao 066004 Peoples R China Yanshan Univ Res Ctr Minist Educ Intelligent Control Syst & Intelligen Qinhuangdao 066104 Hebei Peoples R China Yanshan Univ Key Lab Ind Comp Control Engn Hebei Prov Qinhuangdao 066104 Hebei Peoples R China

In this brief, a general continuous higher-order sliding mode (HOSM) control algorithm is proposed for a class of n-order systems with Lipschitz disturbance, which can be regarded as a generalization of the continuous super-twisting algorithm for arbitrary relative degree with respect to the output. The proposed control algorithm only requires the information of the output and its derivatives up to the order n - 1, and can compensate the Lipschitz disturbance exactly by using a discontinuous integral term, generating a continuous homogeneous control signal and achieving finite-time convergence to a sliding mode of order n + 1. The convergence of the closed-loop system is proved rigorously by employing an explicit and directly constructed homogeneous Lyapunov function. The simulation results validate the effectiveness of the proposed method by comparing with the existing results.

关键词： Higher-order sliding mode super-twisting algorithm finite-time arbitrary order sliding mode homogeneous Lyapunov function

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Improving High Efficiency and Reliability of Pump Systems using Optimal Fractional-order Integral Sliding-Mode Control Strategy

Improving High Efficiency and Reliability of Pump Systems us...

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American Control Conference (ACC)

作者： Nassiri, Samir Labbadi, Moussa Cherkaoui, Mohamed Mohammed V Univ Mohammadia Sch Engn Engn Smart & Sustainable Syst Res Ctr Rabat Morocco Univ Grenoble Alpes CNRS Grenoble INP GIPSA Lab F-38000 Grenoble France

ISBN: (纸本)9798350328066

In this paper, a robust optimal efficiency controller for a complete water pumping system is designed based on the Fractional order Integral Sliding Surface (FISMC) with Linear Quadratic Regulator (LQR) related to the Minimum Electric Loss (MEL) condition. The developed model's novelty is based on a strategy to improve the control's performance robustness with optimal costs, in which a compromise is made between minimizing electric motor power losses and accurate flow rate adjustment in order to operate the pump at its best efficiency point and increase discharge flow rate stability for more flexibility against frequently changing working conditions. The whole system is simulated in MATLAB SIMULINK workspace, and a comparative analysis based on control energy, chattering phenomena, stability and control robustness has been conducted between the conventional PI, LQR, Integral super-twisting Sliding Mode Surface (ISTSMC) and the proposed control strategy MEL-FISMC-LQR. Finally, we evaluated the performance of the designed controls, including the Integral Absolute Error (IAE). The simulation results show that the proposed control design significantly improves pumping system efficiency and stabilizes the discharge flow rate at each operation point of the pumping system, and also improves flexibility against variable-speed and throttling valve. Furthermore, the stability of the closed-loop control system is assured by Lyapunov approach, and dynamic performance regardless of external disturbances as well as unknown uncertainties and parameter variations.

关键词： Centrifugal pump fractional-order integral sliding mode control super-twisting algorithm LQR Minimum Electric Loss Genetic algorithm

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