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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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Digital Implementation via FPGA of Controllers for Active Control of Ground Vehicles

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IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 2019年第4期15卷 2253-2264页

作者： Acosta Lua, Cuauhtemoc Di Gennaro, Stefano Navarrete Guzman, Antonio Ortega-Cisneros, Susana Rivera Dominguez, Jorge Univ Guadalajara Ctr Univ Cienega Dept Ciencias Tecnol Guadalajara 47820 Jalisco Mexico Dept Informat Engn Comp Sci & Math I-67100 Laquila Italy Ctr Excellence DEWS I-67100 Laquila Italy Inst Tecnol Tep Ave Tecnol 2595 Tepic 63175 Mexico Inst Politecn Nacl Ctr Invest & Estudios Avanzados Unidad Guadalajara Zapopan 45010 Jalisco Mexico IPN Conacyt CINVESTAV Unidad Guadalajara Guadalajara 45010 Jalisco Mexico

This paper studies the implementation issues of a discrete-time super-twisting controller on a field-programmable gate array (FPGA). It is shown how it is possible to enhance this implementation using a pipelining technique. The controller is designed on the basis of a discrete-time vehicle model recently presented. The super-twisting algorithm ensures some robustness properties in the presence of unknown bounded perturbations. It is shown that the pipelined implementation of the super-twisting controller on an FPGA allows lower execution times, and hence, smaller sampling times than its naive implementation. Therefore, the pipelining technique allows the implementation of more sophisticated controllers for vehicle control. Moreover, it is shown that the power consumption of the pipelined control algorithm is lower than a conventional one, which is an important aspect for onboard automobile systems. Since the pipelined implementation of the controller requires shorter times, even if the controller performance is similar to that of the no-pipelined one, the use of pipelining techniques allows the consideration of cheaper FPGAs with less performance. Such results show that the FPGA technology, along with methodological solutions for optimal controller implementation, represents an appealing alternative to electronic control units.

关键词： Active front steering digital control implementation discrete-time control field-programmable gate array (FPGA) rear torque vectoring super-twisting algorithm vehicle dynamics

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State-of-Charge and State-of-Energy Estimation for Lithium-ion Batteries Using Sliding-Mode Observers

State-of-Charge and State-of-Energy Estimation for Lithium-i...

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第40届中国控制会议

作者： Yong Feng Fan Bai Chen Xue Fengling Han Harbin Institute of Technology RMIT University

Based on the equivalent circuit model of a lithium-ion battery,this paper proposes a sliding mode observer for its State-of-Charge(SoC) *** order to further estimate the State-of-Energy(SoE) of lithium-ion batteries,a real-time SoE estimation algorithm is established using the super-twisting *** Lyapunov stability theory is utilized to prove the proposed SoC and SoE estimation ***,the experimental data of Dynamic Stress Test(DST) and Federal Urban Driving Schedule(FUDS) test verify the accuracy and robustness of the proposed SoC and SoE estimation algorithms.

关键词： Lithium-ion battery State-of-Charge State-of-Energy Sliding mode observer super-twisting algorithm

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Design and implementation of continuous finite-time sliding mode control for 2-DOF inertially stabilized platform subject to multiple disturbances

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ISA TRANSACTIONS 2019年 84卷 214-224页

作者： Mao, Jianliang Li, Shihua Li, Qi Yang, Jun Southeast Univ Key Lab Measurement & Control Complex Syst Engn Minist Educ Sch Automat Nanjing 210096 Jiangsu Peoples R China

Control performances of inertially stabilized platforms (ISPs) are always affected by various disturbed phenomena such as cross-couplings, mass unbalance, parameter variations, and external disturbances in real applications. To improve the dynamic response and the disturbance rejection ability of the ISP, a continuous finite-time sliding mode control (SMC) approach with cascaded control structure is proposed. By constructing a finite-time disturbance observer, the multiple disturbances are precisely estimated in real time without the complex modeling and calibration work. Under the field oriented control framework, for the stabilized loop subsystem, an improved super-twisting controller incorporating the disturbance estimates is developed whereas for the current loop subsystem, the super-twisting control method is directly employed. Finite-time convergence of the inertial angular rates is guaranteed with the continuous control action such that chattering is alleviated remarkably. Moreover, by utilizing the manner of disturbance compensation, the feedback control gains can be tuning down without sacrificing the disturbance rejection ability. Comparative experiments are performed to verify the effectiveness of the proposed control approach. (C) 2018 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Inertially stabilized platform Finite-time disturbance observer Continuous finite-time sliding mode control super-twisting algorithm Chattering attenuation

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super-twisting disturbance observer-based finite- time attitude stabilization of flexible spacecraft subject to complex disturbances

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JOURNAL OF VIBRATION AND CONTROL 2019年第5期25卷 1008-1018页

作者： Yan, Ruidong Wu, Zhong Beihang Univ Sch Instrumentat Sci & Optoelect Engn Beijing 100191 Peoples R China Tsinghua Univ Sch Mech Engn Beijing 100084 Peoples R China

There exist complex disturbances in the attitude control system of flexible spacecrafts, such as space environmental disturbances, flexible vibrations, inertia uncertainties, payload motions, etc. To suppress the effects of these disturbances on the performance of attitude stabilization, a super-twisting disturbance observer (STDO)-based nonsingular terminal sliding mode controller (NTSMC) is proposed in this paper. First, STDO is designed for a second-order dynamical system constructed by applying the lumped disturbance and its integral as state variables, and applying the integral as virtual measurement. Since the virtual measurement is obtained by integrating the inverse attitude dynamics, STDO not only avoids the differential operation of angular velocity, but also fully utilizes the information of a nonlinear model. By combining STDO with NTSMC, a composite controller is designed to achieve high-accuracy spacecraft attitude stabilization. Since most of the disturbances are compensated for by a STDO-based feedforward compensator, only a small switching gain is required to deal with the residual disturbances and uncertainties. Thus, the chattering phenomenon of the controller can be alleviated to a great extent. Finally, numerical simulations for the comparison between STDO-based NTSMC and nonlinear disturbance observer-based NTSMC are carried out in the presence of complex disturbances to verify the effectiveness of the proposed approach.

关键词： Spacecraft attitude control disturbance observer-based control super-twisting algorithm super-twisting disturbance observer nonsingular terminal sliding mode control

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Robust attitude tracking control for a rigid spacecraft under input delays and actuator errors

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INTERNATIONAL JOURNAL OF CONTROL 2019年第5期92卷 1183-1195页

作者： Safa, Alireza Baradarannia, Mehdi Kharrati, Flamed Khanmohammadi, Sohrab Univ Tabriz Fac Elect & Comp Engn Dept Control Engn Tabriz Iran

Attitude control of a rigid spacecraft under input delays, disturbances, parameter uncertainties, actuator errors, and constraints is a challenging problem. In this paper, these problems are considered simultaneously, and a robust control approach to attitude tracking of a rigid spacecraft is exploited. The design methodology is based on three steps: (1) compensating input delays by using the backstepping technique, (2) design of a disturbance observer for the delayed system by using the super-twisting algorithm to estimate unknown internal and external disturbances, then adding a feedforward compensation law based on the estimated signal to the backstepping controller to attenuate the effects of disturbances, (3) employing a robust least-square scheme to map the specified control command on the redundant actuators in the presence of actuator error, including actuator magnitude deviation and misalignment, with regard to actuator amplitude and rate constraints. The effectiveness of the proposed algorithm is shown by various numerical simulations.

关键词： Spacecraft attitude tracking super-twisting algorithm unknown input delay actuator error

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Adaptive output control of a mobile manipulator hanging from a quadcopter unmanned vehicle

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ISA TRANSACTIONS 2019年 94卷 200-217页

作者： Felisa Ballesteros-Escamilla, Mariana Cruz-Ortiz, David Chairez, Isaac Luviano-Juarez, Alberto Inst Politecn Nacl Unidad Profes Interdisciplinaria Ingn & Tecnol Av Mexico City DF Mexico Inst Politecn Nacl Unidad Profes Interdisciplinaria Biotecnol Mexico City DF Mexico

This article summarizes the comprehensive design of an adaptive control that solves the trajectory tracking of a four-rotor unmanned aerial vehicle supplied by an own-designed grasping device. The controller design uses the regular proportional-derivative (PD) structure which is common to solve regulation, as well as tracking problems for robotic systems. The PD structure needs the estimation of the time-derivative to be exerted on-line. The super-twisting algorithm served to operate as a decentralized estimator of the derivatives for the tracking errors. The controller gains were adjusted by the differential laws aimed to track attainable reference trajectories. The adaptive strategy adjusts the controller gains enforcing the convergence of both the estimation and the tracking errors. A numerical example showed the observer/controller performance. A comparison with a classic non-adaptive PD controller confirms the effectiveness on the tracking task by the proposed design. In addition, a set of virtual numerical evaluations using the parameters of a real quadcopter system confirmed the performance benefits of the adaptive controller based on the PD structure aided with the estimation of the velocity obtained by the observer. (C) 2019 Published by Elsevier Ltd on behalf of ISA.

关键词： Adaptive controller proportional-derivative controller Quadcopter super-twisting algorithm Grasping device

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Adaptive global sliding mode control of underactuated systems using a super-twisting scheme: an experimental study

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JOURNAL OF VIBRATION AND CONTROL 2019年第16期25卷 2215-2224页

作者： Mobayen, Saleh Univ Zanjan Dept Elect Engn Zanjan Iran

The control problem of underactuated systems with external perturbations is investigating in this paper. Using the super-twisting-based global sliding mode control (GSMC) method, an original control law is proposed to guarantee removal of the reaching mode and obtain the robustness and exponential stability of the underactuated systems. Via the offered scheme, a robust control law is designed so that the state trajectories of the underactuated systems are convergent to the global sliding surface in an exponential manner. Moreover, this article develops an adaptive super-twisting algorithm for these systems. The adaptive-tuning controller eliminates the need of the knowledge about upper bound of the exterior disturbance. The discontinuous sign function appears in the controller derivative;as a result, the actual control signal reached after integration is continuous and free of chattering. Demonstrative simulations on a cart-inverted pendulum system as well as an experimental study are presented to show the effectiveness and applicability of the proposed technique.

关键词： Sliding mode control global sliding surface underactuated systems super-twisting algorithm adaptive tuning

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New hybrid sensorless speed of a non-salient pole PMSG coupled to wind turbine using a modified switching algorithm

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ISA TRANSACTIONS 2019年 94卷 187-199页

作者： Mohamed, Mansouri Said, Hassaine Mhamed, Larbi Mohamed, Bey Tayeb, Allaoui Mouloud, Denai Mohamed, Moudjahed IBN Khaldoun Univ Lab Energy Engn & Comp Engn Tiaret Algeria Univ Hertfordshire Sch Engn & Technol Hatfield Herts England

The paper focuses on the design of position and speed observers for the rotor of a non-salient pole permanent magnet synchronous generator (NSPPMSG) coupled to a wind turbine. With the random nature of wind speed this observer is required to provide a position and speed estimates over a wide speed range. The proposed hybrid structure combines two observers and a switching algorithm to select the appropriate observer based on a modified weighting coefficients method. The first observer is a higher-order sliding mode observer (HOSMO) based on modified super twisting algorithm (STA) with correction term and operates in the medium and nominal wind speed ranges. The second observer is used in the low speed range and is based on the rotor flux estimation and the control by injecting a direct reference current different to zero. The stability of each observer has been successfully assessed using an appropriate Lyapunov function. The simulation results obtained show the effectiveness and performance of the proposed observer and control scheme. (C) 2019 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Non-salient PMSG Standalone wind turbine High-order sliding mode super-twisting algorithm Fuzzy logic control

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Adaptive super-twisting sliding mode control of three-phase power rectifiers in active front end applications

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IET CONTROL THEORY AND APPLICATIONS 2019年第10期13卷 1483-1490页

作者： Luo, Wensheng Zhao, Tongyu Li, Xiaolei Wang, Zhenhuan Wu, Ligang Harbin Inst Technol Sch Astronaut Harbin 150001 Heilongjiang Peoples R China Harbin Inst Technol Space Control & Inertial Technol Res Ctr Harbin 150001 Heilongjiang Peoples R China

A robust control approach for three-phase two-level grid-connected power converters using an adaptive super-twisting algorithm (ASTA) is studied. A cascaded structure of the proposed control method is employed, which consists of two control loops, the dc-link capacitor voltage regulation loop (outer loop) and the grid phase current tracking loop (inner loop). In the outer control loop, a proportional controller using $H_{\infty }$H infinity technique is considered, which is designed to regulate the dc-link capacitor voltage to some desired value. An extended state observer used to asymptotically estimate the external disturbance is integrated into the outer control loop. For the inner control loop, two ASTA-based controllers are implemented that force the grid phase currents to their desired values in finite time. Lyapunov analysis is provided to show the finite time convergence of the closed-loop system. With the help of ASTA, a priori knowledge of the upper bounds of the derivative of the disturbances is not required. Illustrative simulation results in comparison with the linear proportional-integral control method are provided to demonstrate the effectiveness and robustness of the proposed ASTA, in the presence of load variation and parametric uncertainty.

关键词： closed loop systems observers electric current control robust control power convertors power grids voltage control nonlinear control systems control system synthesis variable structure systems Lyapunov methods closed-loop system grid phase currents ASTA-based controllers inner control loop desired value proportional controller outer control loop inner loop grid phase current tracking loop outer loop dc-link capacitor voltage regulation loop control loops super-twisting algorithm three-phase two-level grid robust control approach active front end applications three-phase power rectifiers adaptive super-twisting sliding mode control linear proportional-integral control method

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