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IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC)

作者： Burgara-Motero, C. Anzurez-Marin, J. Ornelas-Tellez, F. Univ Michoacana Fac Ingn Elect Morelia Michoacan Mexico

ISBN: (纸本)9781479923700

This paper proposes a robust control scheme for the Antilock Braking System (ABS). The controller is based on the super-twisting (ST) control algorithm, this is a high-orden sliding mode controller. The ABS is nonlinear and uncertain system;therefore, a robust control method needs to be employed. The ST control algorithm is developed and applied for a quarter vehicle model via simulations. The simulation results reveal that the controller is fast in convergence and it has an adequate performance.

关键词： Antilock braking system (ABS) theory sliding-mode control super-twisting algorithm sliding surface

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Continuous higher order sliding mode control for a class of uncertain MIMO nonlinear systems: An ISS approach

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EUROPEAN JOURNAL OF CONTROL 2018年第May期41卷 1-7页

作者： Thomas, Maria Kamal, Shyam Bandyopadhyay, Bijnan Vachhani, Leena Indian Inst Technol IDP Syst & Control Engn Bombay 400076 Maharashtra India Indian Inst Technol BHU Varanasi Dept Elect Engn Varanasi 221005 Uttar Pradesh India

In this article, we propose a new approach towards the design of higher order sliding mode (HOSM) control, for a class of multiple input multiple output (MIMO) uncertain nonlinear systems subject to matched and unmatched uncertainties. In the proposed method, nonlinear sliding surfaces incorporating the system initial conditions and exponential functions, which guarantee the existence of sliding mode from an initial state are utilized and appropriate control inputs are designed. The control inputs are designed to enforce second order sliding mode w.r.t the sliding variables via the use of multivariable super-twisting algorithm (STA) in finite time. The resulting sliding motion is in turn proved to be input-to-state-stable (ISS) with respect to the perturbations and unmatched uncertainties. The developed sliding mode control strategy is applied for the posture stabilization of a unicycle mobile robot. The proposed method is illustrated through simulations. (C) 2018 European Control Association. Published by Elsevier Ltd. All rights reserved.

关键词： Nonlinear sliding surface super-twisting algorithm Input-to-state stability Unicycle mobile robot Posture stabilization

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Power management and second-order sliding mode control for standalone hybrid wind energy with battery energy storage system

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 2018年第10期232卷 1389-1411页

作者： Krim, Youssef Abbes, Dhaker Krim, Saber Mimouni, Mohamed Faouzi Univ Monastir Natl Engn Sch Monastir Dept Elect Engn Res Unit Study Ind Syst & Renewable Energy Ave Ibn El Jazzar Monastir 5019 Tunisia Ecole HEI Lab Elect Engn & Power Elect Lille L2EP Lille France

The purpose of this article is to provide a high performance control of a renewable distributed generator to guarantee an electric power quality and jointly reduce the mechanical stress despite any possible uncertainties such as the random nature of wind speed, the presence of parameters uncertainties, and external perturbations acting on the system (sudden load variation). The renewable distributed generator integrating a wind generator associated with a batteries module is considered as an energy storage device and a variable load. The proposed method is designed by a power management supervisor and a sliding mode control technique. First, the power management supervisor is used to monitor the power flows transferred between the different system devices depending on the load variation and on the intermittency of wind production. In fact, it enables to ensure the balance at the continuous, Direct Current (DC) bus between the powers supplied by the renewable distributed generator and those demanded by the load. In addition, it prevents batteries from exceeding its maximum or minimum state of charge (SOCbat) by keeping it at an acceptable level [30%, 90%]. Second, a second-order sliding mode control based on the super-twisting algorithm is suggested to control the two subsystems (generator side and load side converters). The main target of the first one is to extract the maximum wind power taking into account the parameter variations and the fluctuating nature of wind. The second one is to investigate a second-order sliding mode control of active and reactive load power quantities, which provides better results in terms of attenuation of the harmonics present in the load voltage and current while considering the sudden load variations. In addition, a proportional-integral controller is also designed and simulated to establish a comparison framework. According to the simulation results, the second-order sliding mode control successfully deals with the nonlinearity of

关键词： Second-order sliding mode power management supervisor wind speed turbulence super-twisting algorithm parametric variation sudden load variations

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super-twisting integral-sliding-mode guidance law considering autopilot dynamics

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2018年第9期232卷 1787-1799页

作者： Meng, Kezi Zhou, Di Harbin Inst Technol Sch Astronaut Harbin 150001 Heilongjiang Peoples R China

A new guidance law considering missile autopilot dynamics is established via integrating a smooth super-twisting algorithm with nonlinear integral sliding mode. In this guidance law, a finite-time disturbance observer is introduced to estimate mismatched and matched disturbances resulting from target maneuvers. Based on Lyapunov stability theory, the finite-time stability of the closed-loop guidance system under this law is analyzed using a finite-time bounded function. The super-twisting algorithm guarantees that the proposed guidance law is chattering-free and the disturbance observer does not depend on the prior knowledge of target acceleration. So the proposed guidance law is easy to be implemented in practice. The finite-time convergence and robustness of the proposed guidance law are demonstrated via numerical simulations accounting for missile autopilot dynamics.

关键词： Missile guidance law missile autopilot super-twisting algorithm nonlinear integral sliding mode finite-time convergence

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Adaptive time-varying super-twisting global SMC for projective synchronisation of flexible manipulator

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NONLINEAR DYNAMICS 2018年第4期93卷 2071-2088页

作者： Lochan, K. Singh, J. P. Roy, B. K. Subudhi, B. Natl Inst Technol Silchar Dept EE Silchar 788010 Assam India Natl Inst Technol Rourkela Dept EE Rourkela 769008 Assam India

In this paper, a synchronisation strategy between a controlled master and three-slave two-link flexible manipulators is proposed. Two out of the three slaves are identical with the master, whereas the third one is non-identical. The master and the slave manipulators are modelled by assumed modes and lumped parameter methods, respectively. The 12 states of the master manipulator are synchronised to the 8 states of each slave manipulator. Such projective synchronisation is also not available in the literature. A global sliding mode controller is designed first for the master manipulator to track the desired trajectory. Next, the synchronisation between the master and the slaves is achieved by designing an adaptive time-varying super-twisting global sliding mode controller. The simulation results reveal that the performances of the proposed controller in terms of (i) steady-state error of synchronisation, (ii) synchronisation time and (iii) links deflection are much better than the existing controller proposed in 2016.

关键词： Synchronisation Global sliding mode control super-twisting algorithm Two-link flexible manipulators Adaptive control

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Hardware-in-the-loop attitude control via a high-order sliding mode controller/observer

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2018年第10期232卷 1944-1960页

作者： Malekzadeh, Maryam Rezayati, Maryam Saboohi, Mobin Univ Isfahan Dept Mech Engn Esfahan *** Iran

In this study, a hardware-in-the-loop implementation of attitude control algorithms based on high-order sliding mode theory is performed and then both compared in terms of performance and functionality. The spacecraft simulator consists of a free-floating platform hinged on a spherical air-bearing support. In order to compensate for the unreliable performance of the rate gyros, a super-twisting sliding mode observer is incorporated to estimate the angular velocities fed back to the controller unit. The proposed scheme makes full use of novel sliding mode methods to alleviate the chattering effects without increasing the control effort;both controllers and observer are tuned to deal with the saturation of reaction wheels with respect to momentum and its rate. The ab initio simulations compared well with the simulator responses, implying that involved instruments including actuators and sensors have been properly emulated. This also proved that the external disturbances were modeled in a reliable manner. The robustness and effectiveness of the proposed scheme have been validated experimentally under extreme circumstances of disturbances and levels of uncertainties.

关键词： Spacecraft simulator high-order observer super-twisting algorithm terminal sliding mode reaction wheel saturation

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A Robust Double Closed-Loop Control Scheme for PMLSM Drives

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IEEE ACCESS 2018年 6卷 62645-62654页

作者： Wang, Ming-Yi Niu, Yu-Jie Yang, Rui Tan, Qiang Jiang, Jia-Lin Li, Li-Yi Harbin Inst Technol Dept Elect Engn Harbin 150001 Heilongjiang Peoples R China

In this paper, a novel velocity and current double closed-loop control scheme applied to the permanent magnet linear synchronous motor (PMLSM) drives is proposed, and to suppress various uncertainties and disturbances, the advanced observation technique is introduced. First, as the inner loop, the current loop adopts the predictive current control method, which can increase the current control bandwidth and tracking precision. To improve the dynamic response and robustness of the velocity loop, a super-twisting sliding-mode control strategy is presented. Second, to overcome the parameter mismatch issue in the current loop and suppress different force disturbances in the velocity loop, their respective super-twisting sliding-mode observers are structured, and the corresponding estimated values are injected into the double closed loops by the feedforward method. At last, based on the precise PMLSM testing platform, the experimental studies are carried out to prove the effectiveness and correctness of the proposed scheme.

关键词： Permanent magnet linear synchronous motor (PMLSM) predictive current control sliding-mode control super-twisting algorithm observer

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MODEL PREDICTIVE super-twisting SLIDING MODE CONTROL FOR AN AUTONOMOUS SURFACE VEHICLE

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POLISH MARITIME RESEARCH 2019年第3期26卷 163-171页

作者： Esfahani, Hossein Nejatbakhsh Szlapczynski, Rafal Gdansk Univ Technol Fac Ocean Engn & Ship Technol Dept Marine Mechatron G Narutowicza 11-12 PL-80233 Gdansk Poland

This paper presents a new robust Model Predictive Control (MPC) algorithm for trajectory tracking of an Autonomous Surface Vehicle (ASV) in presence of the time-varying external disturbances including winds, waves and ocean currents as well as dynamical uncertainties. For fullling the robustness property, a sliding mode control-based procedure for designing of MPC and a super-twisting term are adopted. The MPC algorithm has been known as an effective approach for the implementation simplicity and its fast dynamic response. The proposed hybrid controller has been implemented in MATLAB / Simulink environment. The results for the combined Model Predictive super-twisting Sliding Mode Control (MP-STSMC) algorithm have shown that it significantly outperforms conventional MPC algorithm in terms of the transient response, robustness and steady state response and presents an effective chattering attenuation in comparison with the super-twisting Sliding Mode Control (STSMC) algorithm.

关键词： utonomous Surface Vehicle Model Predictive Control Sliding Mode Control super-twisting algorithm Chattering Attenuation

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Step-by-step implicit discrete super-twisting differentiator for input-output linearizable nonlinear systems

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IFAC-PapersOnLine 2019年第16期52卷 783-788页

作者： Isaac Chairez Bioprocesses Department UPIBI Instituto Politećnico Nacional and the School of Engineering of the Tecnológico de Monterrey Campus Guadalajara

The aim of this study was to design a step-by-step numerical differentiator for a class of discretized version of a n-th chain-of-integrator system based on the application of the implicit discretization of the super-twisting algorithm (STA). The high-order differentiator reconstructed the non-measurable states of an input-output linearizable systems. The gains of the observer were calculated based on the application of a class of generalized functions. The convergence analysis showed that all the states in the linearized system achieved an invariant set with a predefined size. The existence of this invariant set depends on the uniqueness of the solution for the generalized function. A simple interpretation of a possible exact reconstruction of the non-measurable states of the implicit discretized form. The application of the implicit discretized STA served to design a class of observer for the microalgae culture system.

关键词： Sliding mode super-twisting algorithm Numerical differentiator Discrete sliding mode

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Hybrid position-admittance realization of an adaptive output super-twisting controller for a robotic scalpel

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CONTROL ENGINEERING PRACTICE 2019年 93卷 104161-000页

作者： Sanchez-Magos, Misael Perez-San Lazaro, Rafael Mireles, Caridad Ballesteros, Mariana Salgado, Ivan Chairez, Isaac Inst Politecn Nacl Ctr Innovac & Desarrollo Tecnol Comp Mexico City DF Mexico Inst Politecn Nacl Dept Bioproc Unidad Profes Interdisciplinaria Biotecnol Mexico City DF Mexico Inst Tecol Estudios Super Monterrey Escuela Ingn Campus Guadalajara Guadalajara Jalisco Mexico

This study proposes the design and implementation of a hybrid robust automatic controller based on the application of a high order sliding mode algorithm for a robotic scalpel prototype (RS). Two fully actuated arms with three degrees of freedom constitute the RS, one arm holds the sample and the second one has the scalpel to exert the cutting task. Each arm is attached to its corresponding cartesian robotic platform. The available measurements are the angular displacements, the linear displacement and the force vector describing the interaction between the scalpel and the biological sample. A hybrid position-admittance controller implements an output-based adaptive distributed super-twisting algorithm to mobilize the RS. A high order sliding mode observer estimates the unknown angular and linear velocities that were used in the hybrid controller. Once the end-effector of each arm reaches the desired cutting position, the designed controller switches to the admittance controller to avoid damaging the surrounding tissue. Numerical simulations show the advantages of the suggested controller in comparison with classical algorithms. The hybrid sliding mode admittance controller has been successfully evaluated on an self-constructed platform. The experimental results show a precise cut and efficient mobilization of the RS compared to other classical controllers such as proportional-differentiator, proportional-integral and first order sliding mode controllers.

关键词： Sliding-mode control Surgical robotics super-twisting algorithm Admittance control Hybrid controllers

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