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Generalized Multivariable super-twisting algorithm Combined with an Adaptive Dual-Layer Scheme

JOURNAL OF CONTROL AUTOMATION AND ELECTRICAL SYSTEMS 2025年 1-12页

作者： de Azevedo Filho, Jair Luiz Nunes, Eduardo Vieira Leao Univ Fed Rio de Janeiro Elect Engn Program COPPE Cidade Univ BR-21945970 Rio De Janeiro RJ Brazil

In this paper, a generalized multivariable adaptive super-twisting algorithm is proposed. Finite-time convergence is achieved for a family of Multivariable super-twisting functions, which ensures robustness for a broader class of disturbances. Furthermore, based on the Dual-Layer adaptive scheme, the adaptation gain is able to tune the gains of the algorithm while avoiding conservative choices, even when an upper-bound for the perturbation is unknown.

关键词： Adaptive control Multivariable control super-twisting algorithm Generalized super-twisting

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super-twisting algorithm Second-Order Sliding Mode Control of a Bidirectional DC-to-DC Converter Supplying a Constant Power Load 14

Super-Twisting Algorithm Second-Order Sliding Mode Control o...

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14th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS)

作者： Hatlehol, Marius Ulla Zadeh, Mehdi Norwegian Univ Sci & Technol Marintekn Senter N-7052 Trondheim Norway

The super-twisting algorithm is employed to control the voltage of a Bidirectional DC-to-DC Converter of an on-board propulsion system in presence of large load variations. The Bidirectional DC-to-DC Converter is modeled using average value modeling, and it is shown by an alternative approach that the zero dynamics for the converter topology supplying a Constant Power Load are unstable with the DC bus voltage as output, and stable for the inductor current as output. Here, a derivation of the controller gains is presented based on the average model of the system. The gains are described with respect to the inductor current and its bounded perturbations. The performance of the proposed controller is compared to a conventional cascaded PI controller, and exhibits strong robustness with respect to external system variations. Copyright (C) 2022 The Authors.

关键词： Sliding Mode Control Higher-Order Sliding Mode super-twisting algorithm Bidirectional DC-to-DC Converter Constant Power Load DC Power System Propulsion System

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super-twisting algorithm second-order sliding mode control for collision avoidance system based on active front steering and direct yaw moment control

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2021年第1期235卷 43-54页

作者： Liu, Jun Gao, Liang Zhang, Junjie Yan, Feng Jiangsu Univ Sch Automot & Traff Engn Zhenjiang 212013 Jiangsu Peoples R China Univ Leeds Sch Elect & Elect Engn Leeds W Yorkshire England Hunan Univ State Key Lab Adv Design & Mfg Vehicle Body Changsha Peoples R China

Active collision avoidance system has received more and more attraction, which has the capability to avoid potential accidents and reduce driver burden. This paper proposes an active collision avoidance system which consists of a path planner and a coordinated lateral controller. In the path planner, cubic B-spline is developed to obtain collision-free trajectories to bypass the obstacle by steering. Based on this, a coordinated lateral dynamic control of autonomous ground vehicles is presented to improve the accuracy and robustness of path following and simultaneously ensure vehicle stability via active front steering and direct yaw moment control. Then, second-order sliding mode control, based on super-twisting algorithm, is applied to reduce lateral offset and heading angle deviation as much as possible and avoid chattering phenomenon of tradition sliding mode control. Meanwhile, a new form of sliding mode control based on improved reaching law is devoted to forcing the vehicle state sideslip angle and yaw rate to stability envelope with less chattering in the case of low road friction coefficient. Eventually, the effectiveness and robustness of active collision avoidance system against external disturbance and parametric uncertainties are confirmed through different test cases in the MATLAB/Simulink simulation platform.

关键词： Integrated lateral dynamic control SOSMC path following super-twisting algorithm vehicle stability control

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super-twisting algorithm with fast super-twisting disturbance observer for steer-by-wire vehicles

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2021年第8期235卷 2324-2340页

作者： Yang, Yong Yan, Yunbing Xu, Xiaowei Gong, Bian Wuhan Univ Sci & Technol Sch Automobile & Traff Engn 2 Huangjiahu West Rd Wuhan 430065 Peoples R China

The control performance of a vehicle steer-by-wire (SBW) system can be seriously affected by vagaries of tyre-road conditions and external disturbance. Aiming at the problem of fast estimating and compensating the time-varying disturbance torque acting on the front wheels under different working conditions, this article presents a super-twisting algorithm (STA) combined with fast super-twisting disturbance observer (FSTDO) control scheme. At first the SBW system is modelled according to the experiment plant. Secondly, the FSTDO is designed according to SBW system model. A fast reaching law is adopted to accelerate the sliding variable convergence rate and enhance the response speed of the observer. The FSTDO-STA controller adopts STA control in closed-loop system. The control signal is continuous, so that, the chattering could be inhibited. The stability of FSTDO error dynamics and closed-loop dynamics is proved in the sense of Lyapunov. Finally, comparative verification experiments are carried out to demonstrate the validity of FSTDO-STA. The FSTDO-STA controller can quickly estimate and compensate disturbance torque under various operating conditions. Compared with other comparative algorithms, the proposed controller has some advantages in response speed, control accuracy and robustness. And it was corroborated by the experimental results.

关键词： Fast super-twisting disturbance observer super-twisting algorithm steer-by-wire sliding mode control

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An adaptive super-twisting algorithm based on conditioning technique

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL 2022年第2期44卷 497-505页

作者： Liu, Dakai Esche, Sven Wang, Mingang Northwestern Polytech Univ Sch Astronaut Xian Peoples R China Stevens Inst Technol Dept Mech Engn Hoboken NJ 07030 USA

This paper presents an adaptive conditioning-technique-based super-twisting algorithm aiming at improving the convergence speed and reducing the overshoot at the same time. Compared with a recently proposed method called new modified super-twisting algorithm, in which a linear acceleration factor and a damping factor are added to achieve this goal, the proposed method has several advantages. First, the proposed method enhances the convergence performance of the system by resorting to the characteristics of the conditioned super-twisting algorithm and the adaptive gains, without changing the basic structure of the classical super-twisting controller. Thus, stability proof of this method is much simpler and more concise. Furthermore, unlike the new modified super-twisting algorithm, in which an unnatural assumption on the Lipschitz disturbance is made for the stability proof, this method can counteract not only typical bounded Lipschitz disturbances but also square-root growth disturbances. Also, a set of less conservative control gains can be obtained with the proposed algorithm than with the compared algorithm. Apart from these benefits, several simulation results illustrate that the performance of the proposed method is even better in convergence and recovering from disturbance.

关键词： super-twisting algorithm conditioning algorithm sliding mode control adaptive control

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Back-Stepping Formation Control of Unmanned Surface Vehicles With Input Saturation Based on Adaptive super-twisting algorithm

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IEEE ACCESS 2022年 10卷 114885-114896页

作者： Zou Yuhan Kun, Wang Wei, Shang Zhou, Liu Zheng Zhongzhong Hao, Jing Guo Hubei Univ Technol Sch Mech Engn Wuhan 430068 Peoples R China China Ship Dev & Design Ctr Wuhan 430064 Peoples R China

Aiming at the formation control problem for unmanned surface vehicles under input overload and external disturbance, a leader-follower formation control law based on input saturation and the adaptive super-twisting algorithm was designed in this paper. Firstly, the mathematical model of underactuated unmanned surface vehicle formation based on the leader-follower method is established, and the virtual expected velocity is designed by the back-stepping method to improve the control accuracy of formation. Secondly, the parametric uncertainties and unknown external disturbances in the USV's dynamical model are compensated by the proposed adaptive super-twisting control laws. In addition, the input saturation function is added to the controller to avoid machine necrosis caused by input overload. Finally, Simulation results show that the controller can roughly keep the trajectory of the USV consistent with the expected trajectory and ensure that the input values are within the safe range, which proves the effectiveness of the method in this paper.

关键词： Formation control Convergence Uncertainty Stability analysis Oscillators 1 f noise Mathematical models Autonomous vehicles Multi-agent systems Unmanned surface vehicles multi-agent system super-twisting algorithm input saturation

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Virtual Inertia Provision Through the super-twisting algorithm

Virtual Inertia Provision Through the Super-twisting Algorit...

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IEEE-Power-and-Energy-Society General Meeting (PESGM)

作者： Alfaro-Bernardino, Amaranta Zamora, A. Rueda-Escobedo, J. G. Paternina, M. R. A. Mejia-Ruiz, Gabriel U Michoacana Morelia Michoacan Mexico Univ Nacl Autonoma Mexico Mexico City DF Mexico

ISBN: (纸本)9798350381849;9798350381832

This paper presents a super twisting-based synchronous reference frame phase-locked-loop controller for distributed battery energy storage systems in power grids with a high penetration of renewable energies. The proposed method improves the frequency stability of the power networks in the presence of sudden generation/consumption imbalances. In addition, in the case of virtual inertia response, the active power is also adjusted in response to variations of the RoCoF. The PI controllers are tuned via the pole placement method. The transient stability simulations for disturbances are performed using Matlab & Simulink platforms. The results demonstrate a 34% drop in the nadir when the virtual inertia strategy is employed.

关键词： Virtual inertia battery energy storage system frequency RoCoF super-twisting algorithm

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Multivariable super-twisting algorithm for Systems With Uncertain Input Matrix and Perturbations

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2022年第12期67卷 6716-6722页

作者： Moreno, Jaime A. Rios, Hector Ovalle, Luis Fridman, Leonid Univ Nacl Autonoma Mexico Inst Ingn Mexico City 04510 DF Mexico Tecnol Nacl Mexico IT La Laguna Torreon 27000 Coahuila Mexico Catedras CONACYT Mexico City 03940 DF Mexico Univ Nacl Autonoma Mexico Fac Ingn Mexico City 04510 DF Mexico Sirius Univ Sci & Technol Ctr Informat Technol & AI Soci 354340 Russia

This article proposes a Lyapunov approach to the design of a multivariable generalized super-twisting algorithm (MGSTA), which is able to control a system with perturbations and uncertain control matrix, both depending on time and the system states. The presented procedure shows that, under reasonable assumptions for the uncertainties, it is always possible to find a set of constant gains for the MGSTA in order to ensure global and robust finite-time stability of the system's outputs. Simulation results on an omnidirectional mobile robot illustrate the performance of the MGSTA.

关键词： Robust control sliding-mode control super-twisting algorithm uncertain systems

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super-twisting algorithm Second-Order Sliding Mode Control of a Bidirectional DC-to-DC Converter Supplying a Constant Power Load.

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IFAC-PapersOnLine 2022年第31期55卷 287-294页

作者： Marius Ulla Hatlehol Mehdi Zadeh

关键词： Sliding Mode Control Higher-Order Sliding Mode super-twisting algorithm Bidirectional DC-to-DC Converter Constant Power Load DC Power System Propulsion System

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Attitude control for a bionic soft-robotic-ray via a differential flatness theory and a super-twisting algorithm

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JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 2024年第15期361卷

作者： Cheng, Haiyan Fang, Bin Liu, Qing Zhang, Jinhua Hong, Jun Xi An Jiao Tong Univ Key Lab Educ Minist Modern Design & Rotor Bearing Xian 710049 Peoples R China Xian Univ Technol Sch Automat & Informat Engn Xian 710048 Peoples R China

The development of soft robots provides better possibilities on attitude bionic motion for bionic mechanisms, but there are strong nonlinear challenges in attitude control such as modeling difficulties and external interference caused by soft materials, application environments and so on. This paper presents an attitude control method using a differential flatness theory and a super-twisting algorithm for control problems of strong nonlinear and underactuated for a pneumatic driven bionic soft-robotic-ray which is driven by dozen bionic soft pneumatic actuated fins. A dynamic flatness system is obtained and proved for the bionic soft pneumatic actuated fins by kinematic model and the differential flatness theory, respectively. A desired output solver is designed to calculate desired spatial position for each bionic soft pneumatic actuated fin under desired undulatory attitude of the bionic soft-robotic-ray. Using the super- twisting algorithm, a sliding-mode-controller based on an extended-state-observer is designed to realize the desired spatial position tracking control for each bionic soft pneumatic actuated fin. Finite-time stabilization of the dynamic flatness system under the introduced attitude control method is proved via a Lyapunov method. Simulations are carried out to verify the availability of the attitude control method applied to the bionic soft-robotic-ray.

关键词： Underwater robot Differential flatness theory super-twisting algorithm Finite-time stabilization

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