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74th International Astronautical Congress, IAC 2023

作者： Zheng, Mingyue Zhang, Yulin Fan, Li Zhejiang Hangzhou310027 China Aerospace Robotic Technology Research Centre Huzhou Institute of Zhejiang University 819 Xisaishan Rd. Zhejiang Huzhou313002 China

The tether-based soft rendezvous and docking scheme for microsatellites is conceived in this paper. It is characterized with notable features of miniaturization, reusability and low cost, which can build a prerequisite for the on-orbit micro-manipulation of service satellite, and meet the increasing demand for rendezvous and docking of microsatellites. The mechanism design for rendezvous and docking is described in detail, and a typical mission implementation scenario is presented. In addition to the mechanism, the tether retrieval control is also a core aspect to ensure successful rendezvous and docking. Considering unknown external disturbances, the relative dynamics model with tether tension is established, and the strategy of tether-based soft rendezvous and docking was analysed. Furtherly, this paper proposes the tether length control method based on extended state observer to realize stable tether retrieval. The control law utilizes the super-twisting algorithm to estimate the unknown disturbance, and compensates the estimated values of disturbance into the control input to suppress its negative influence. Finally, Numerical simulation experiments are carried out to testify the performance of control law. The results of comparative experiment indicate that the disturbance compensation control law with extended state observer based on super-twisting algorithm are able to cope with unknown spatial uncertainties, and equipped with fast-convergence and high-precision. Copyright © 2023 by the International Astronautical Federation (IAF). All rights reserved.

关键词： disturbance suppression extended state observer microsatellite super-twisting algorithm tether retrieval control tether-based rendezvous and docking

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Engine Cylinder Pressure Estimation Using Second-Order Sliding Mode Observer Based on super-twisting algorithm 11

Engine Cylinder Pressure Estimation Using Second-Order Slidi...

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11th World Congress on Intelligent Control and Automation

作者： Zheng, Tai-xiong Kou, Xiao-pei Li, Yong-fu Chongqing Univ Posts & Telecommun Inst Automot Elect & Embedded Syst Chongqing 400065 Peoples R China

ISBN: (纸本)9781479958252

Using observer to estimate cylinder pressure is significant for control and engine on-line diagnosis. Aiming to overcome the chattering phenomenon of sliding mode observer, a second-order sliding mode observer is designed based on the engine cylinder pressure model. And then part of the continuous observer injectors are designed to overcome the chattering problem and eliminate the error based on super-twisting algorithm. In addition, the convergence of system error in finite time is guaranteed by designing fittable observer parameters using second-order sliding mode theory. The simulation results show that the chattering is eliminated by using the proposed approach and the estimated error is reduced by about 10% compared with the method in [8].

关键词： Observer super-twisting algorithm Cylinder pressure estimation Second-Order Sliding Mode

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Event-triggered sliding mode secure control for uncertain fractional-order CPSs against actuator attacks 38

Event-triggered sliding mode secure control for uncertain fr...

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38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023

作者： Bi, Yannan Peng, Feng Wang, Tong Qiu, Jianbin Harbin Institute of Technology Research Institute of Intelligent Control and Systems Harbin China

ISBN: (纸本)9798350303636

Fractional calculus is the generalization of the traditional integral calculus, which can describe the physical system more accurately. In this paper, we consider a sliding mode secure control problem for a class of uncertain fractional-order cyber-physical systems (CPSs) subject to actuator attacks. A sliding mode control method with a fractional-order adaptive super-twisting algorithm is designed to adjust the unknown bounds of the lumped uncertainties, and an event-triggering mechanism is proposed to save the system energy and resources. It is shown that, with the proposed secure control method, all the signals are guaranteed to converge to a small neighborhood of the origin. An example is given to demonstrate the effectiveness of the proposed control method. © 2023 IEEE.

关键词： Actuator attacks Cyber-physical system Fractional calculus Sliding mode control super-twisting algorithm

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Disturbance-Observer-Based Second-Order Sliding-Mode Position Control for Permanent-Magnet Synchronous Motors: A Continuous twisting algorithm-Based Approach

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ENERGIES 2024年第12期17卷 2974页

作者： Liu, Yong-Chao Univ Bourgogne Franche Comte Energy Dept UTBM F-90010 Belfort France

This paper proposes a novel composite position controller for the field-oriented control (FOC) strategy of permanent-magnet synchronous motor (PMSM) servo systems. The proposed composite position controller integrates a position controller with a disturbance observer, with each designed based on a specific second-order sliding-mode algorithm. Specifically, the continuous twisting algorithm (CTA) is employed to develop the position controller for achieving rotor position tracking, while the modified super-twisting algorithm (STA) is used to construct the disturbance observer for compensating the total disturbance in the rotor position tracking error dynamics to enhance the dynamic performance. Comparative simulation tests, conducted within an FOC strategy of PMSM servo systems, contrast the performance of the CTA-based position controller, the composite position controller using a CTA-based position controller and a standard STA-based disturbance observer, and the proposed composite position controller. The simulation results validate the proposed position controller's effectiveness and its superiority over comparable position controllers.

关键词： disturbance observer permanent-magnet synchronous motor servo system position control sliding-mode control sliding-mode observer second-order sliding-mode algorithm continuous twisting algorithm super-twisting algorithm

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Compensation characterization of the UPQC system under an improved nonlinear controller based on the MSTOGI-PLL device

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FRONTIERS IN ENERGY RESEARCH 2024年 12卷

作者： Yu, Yuting Li, Dan Chu, Yanting Hunan Railway Profess Technol Coll Zhuzhou Hunan Peoples R China Univ Teknol MARA Coll Engn Sch Elect Engn Shah Alam Malaysia Hunan Vocat Coll Railway Technol Zhuzhou Hunan Peoples R China

To solve the delay problem of a unified power quality conditioner (UPQC) system during the separation of the fundamental positive-order components and to better filter out the DC and harmonic components to realize accurate phase locking, a mixed second- and third-order generalized integrator phase-locked loop (MSTOGI-PLL) has been designed to replace the traditional synchronous reference frame phase-locked loop (SRF-PLL). Under the premise of adopting the new phase-locking device of MSTOGI-PLL, the active disturbance rejection control (ADRC) controller or the super-twisting algorithm (STA) sliding mode controller is used in the DC voltage control module instead of the traditional PI controller, and the suitability of the two nonlinear controllers with the MSTOGI-PLL device is investigated. First, the new MSTOGI-PLL device is designed, and the new phase-locking method is applied to make the UPQC realize accurate phase locking under the non-ideal situation of the grid voltage containing unbalance, DC component, harmonics, and so on. Based on the above foundation, the ADRC or STA controller is independently adopted to replace the PI controller to construct the UPQC system with the ADRC + MSTOGI phase-locking device and the second-order STA + MSTOGI phase-locking device. Finally, a simulation comparison is carried out in a Simulink simulation platform regarding the UPQC system under different phase-locking devices, and the simulation results demonstrate that MSTOGI-PLL can successfully filter out the DC component and resolve the phase-locking process delay issue. Additionally, the UPQC system with ADRC + MSTOGI-PLL exhibits superior immunity and response speed to the PI controller and the second-order STA controller.

关键词： mixed second- and third-order generalized integrator active disturbance rejection control super-twisting algorithm unified power quality conditioner control accuracy response speed

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MIMO super-twisting Controller using a passivity-based design

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JOURNAL OF THE FRANKLIN INSTITUTE 2024年第17期361卷

作者： Moreno, Jaime A. Garcia-Mathey, Juan F. Univ Nacl Autonoma Mexico Inst Ingn Mexico City 04510 Mexico

A novel MIMO super-twisting algorithm is proposed in this paper for nonlinear systems with relative degree one, having a time and state-varying uncertain control matrix. The uncertainty is represented by a time and state-varying but unknown left matrix factor. Sufficient conditions for stability with full-matrix control gains are established, in contrast to the usual scalar gains. For this a smooth Lyapunov function, based on a passivity interpretation, is used. Moreover, continuous and homogeneous approximations of the classical discontinuous super-twisting algorithm are obtained, using a unified analysis method. Moreover, the proposed super-twisting algorithm is of the discontinuous type, in contrast to the usual unitary type.

关键词： MIMO systems High-Order Sliding-Mode Control super-twisting algorithm Lyapunov functions

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STA-based design of an adaptive disturbance observer for autonomous underwater vehicles: From concept to real-time validation

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CONTROL ENGINEERING PRACTICE 2024年 144卷

作者： Guerrero, Jesus Chemori, Ahmed Torres, Jorge Creuze, Vincent Tecnol Nacl Mexico ITS Abasolo Mechatron Dept Guanajuato Mexico Natl Polytech Inst CINVESTAV Ctr Res & Adv Studies Mexico City Mexico Univ Montpellier LIRMM CNRS Montpellier France

In this paper, we propose to improve the robustness of the well-known PD controller through an adaptable disturbance observer. The proposed disturbance observer is based on the super-twisting algorithm, and is designed with adaptive gains. The stability analysis of the resulting closed-loop controller/observer is achieved using Lyapunov arguments. Real-time experiments in different operating conditions are conducted to demonstrate the effectiveness and robustness of the proposed methodology, compared to the nominal PD control.

关键词： Disturbance observer super-twisting algorithm AUV Stability analysis Real-time experiments

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MIMO super-twisting Controller: A new design 16

MIMO Super-Twisting Controller: A new design

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16th International Workshop on Variable Structure Systems (VSS)

作者： Garcia-Mathey, Juan F. Moreno, Jaime A. Univ Nacl Autonoma Mexico Inst Ingn Mexico City 04510 DF Mexico

ISBN: (数字)9781665463591

ISBN: (纸本)9781665463591

We propose a novel MIMO super-twisting control algorithm based on passivity properties. The differences with most known MIMO algorithms are: the control terms are not of unity-type, the control matrix may be uncertain and the gain matrices can be full, instead of the usual scalar gains. A smooth Lyapunov function is used instead of the usual non-smooth one. Two examples with uncertain control matrices are presented to illustrate the unique properties of the proposed controllers, together with a comparison with other known schemes.

关键词： MIMO systems super-twisting algorithm

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Enhanced Robust Control of the EMA system Based on High-Order Extended State Observer 25

Enhanced Robust Control of the EMA system Based on High-Orde...

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25th International Conference on Electrical Machines and Systems (ICEMS)

作者： Tian, Liangbo Li, Yuren Xu, Xiang Liang, Bo Rao, Yun Zhang, Hongyu Northwestern Polytech Univ Sch Automat Xian Peoples R China

ISBN: (纸本)9781665493024

The electro-mechanical actuator (EMA) is widely used in aircraft braking systems due to its high efficiency and high reliability. To improve the dynamic performance and the anti-interference ability of EMA, an enhanced robust control method based on the high-order extended state observer (ESO) is proposed in this paper. Firstly, the operating principle of the EMA system is analyzed and the mathematical model is built. Then, all the system uncertainties and external load variations are considered as the lumped disturbance. A high-order ESO is constructed to estimate the lumped disturbance, and the super-twisting (ST) algorithm is utilized to control the braking torque. Therefore, the composite controller can greatly improve the anti-disturbance ability of the EMA servo system. Finally, the effectiveness of the proposed controller is demonstrated by simulation results.

关键词： electro-mechanical actuator enhanced robust control high-order ESO super-twisting algorithm

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Observer-Based Sliding Mode Control for Noncommensurate Fractional-order System with Mismatched Disturbances 41

Observer-Based Sliding Mode Control for Noncommensurate Frac...

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第41届中国控制会议

作者： Xinhuang Li Zhengwei Yang Zuoyu Xie Jing Zhao Fei Xie College of Automation & Artificial Intelligence Nanjing University of Posts and Telecommunications College of Electrical Engineering and Automation Nanjing Normal University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper proposes a hierarchical sliding mode control strategy for a class of noncommensurate fractional-order systems with mismatched ***,we design a control law based on a hierarchical terminal sliding ***,based on fractional-order super-twisting algorithm,a sliding mode observer is designed to estimate the whole unknown term in control *** proposed control method does not require information of the internal system states,but deal with mismatched disturbances ***,numerical simulation results are shown to illustrate the effectiveness of the proposed method.

关键词： Hierarchical sliding mode Noncommensurate fractional-order system super-twisting algorithm Mismatched disturbance

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