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Adaptive disturbance observer-based finite-time continuous fault-tolerant control for reentry RLV

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2017年第18期27卷 4275-4295页

作者： Dong, Qi Zong, Qun Tian, Bailing Zhang, Chaofan Liu, Wenjing Tianjin Univ Coll Elect Engn & Automat Tianjin 300072 Peoples R China Beijing Inst Control Engn Natl Key Lab Sci & Technol Space Intelligent Cont Beijing Peoples R China

The control effectors of reusable launch vehicle (RLV) can produce significant perturbations and faults in reentry phase. Such a challenge imposes tight requirements to enhance the robustness of vehicle autopilot. Focusing on this problem, a novel finite-time fault-tolerant control strategy is proposed for reentry RLV in this paper. The key of this strategy is to design an adaptive-gain multivariable finite-time disturbance observer (FDO) to estimate the synthetical perturbation with unknown bounds, which is composed of model uncertainty, external disturbance, and actuator fault considered as the partial loss of actuator effectiveness in this work. Then, combined with the finite-time high-order observer and differentiator, a continuous homogeneous second-order sliding mode controller based on the terminal sliding mode and super-twisting algorithm is designed to achieve a fast and accurate RLV attitude tracking with chattering attenuation. The main features of the integrated control strategy are that the adaptation algorithm of FDO can achieve non-overestimating values of the observer gains and the second-order super-twisting sliding mode approach can obtain a more elegant solution in finite time. Finally, simulation results of classical RLV (X-33) are provided to verify the effectiveness and robustness of the proposed fault-tolerant controller in tracking the guidance commands. Copyright (c) 2017 John Wiley & Sons, Ltd.

关键词： reusable launch vehicle (RLV) fault-tolerant control adaptive disturbance observer super-twisting algorithm finite-time convergence

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Trajectory tracking control of electric sail with input uncertainty and saturation constraint

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL 2017年第7期39卷 1007-1016页

作者： Wang, Yu Bian, Bingxiu Beijing Inst Control Engn 3rd South Zhongguancun Rd Beijing Peoples R China Inst Telecommun Satellite 100 Friendship Rd Beijing Peoples R China

The electric sail (ES) is a novel propellantless propulsion concept, which extracts the solar wind momentum by repelling the positively charged ions. Due to the difficulty of attitude adjustment by the large flexible structure and the uncertainty of ion density, velocity and electron temperature by solar wind, there exist thrust input uncertainty and saturation with time-varying bounds for ES. The trajectory tracking problem for ES in three-dimensional (3-D) space is studied, and the composite sliding mode control scheme with corresponding guidance strategy is proposed for the single-input-multiple-output (SIMO) non-linear system. The hierarchical sliding surfaces are constructed with an auxiliary design system to analyse the effect of input saturation constraints and decouple the SIMO non-linear system to reduce the control complexity. Also, the disturbance estimation based on a super-twisting algorithm is employed to decrease the switch chattering and improve the system robustness. It is proved that all the sliding mode surfaces are asymptotically stable, and all the signals of the closed-loop system are bounded with input saturation constraints. Furthermore, all the signals are converging to zero and the closed-loop system is asymptotically stable without saturation. Finally, the simulation demonstrates the proposed composite sliding mode control is fit for ES 3-D trajectory tracking.

关键词： Auxiliary design system disturbance observer electric sail hierarchical sliding mode control super-twisting algorithm

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Comparative investigations of nonlinear and linear observers for a highly manoeuvrable target in sliding mode guidance

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BULLETIN OF THE POLISH ACADEMY OF SCIENCES-TECHNICAL SCIENCES 2017年第2期65卷 233-245页

作者： Wang, Y. Sun, M. Du, S. Chen, Z. AVIC LEHIUA Elect Technol Res Inst Wuxi 214063 Peoples R China Nankai Univ Coll Comp & Control Engn Tianjin 300350 Peoples R China Nankai Univ Tianjin Key Lab Intelligent Robot Tianjin 300350 Peoples R China Tshwane Univ Technol Dept Mech Engn ZA-0001 Pretoria South Africa

Target manoeuvre is one of the key factors affecting guidance accuracy. To intercept highly maneuverable targets, a second-order sliding-mode guidance law, which is based on the super-twisting algorithm, is designed without depending on any information about the target motion. In the designed guidance system, the target estimator plays an essential role. Besides the existing higher-order sliding-mode observer (HOSMO), a first-order linear observer (POLO) is also proposed to estimate the target manoeuvre, and this is the major contribution of this paper. The closed-loop guidance system can be guaranteed to be uniformly ultimately bounded (UUB) in the presence of the POLO. The comparative simulations are carried out to investigate the overall performance resulting from these two categories of observers. The results show that the guidance law with the proposed linear observer can achieve better comprehensive criteria for the amplitude of normalised acceleration and elevator deflection requirements. The reasons for the different levels of performance of these two observer-based methods are thoroughly investigated.

关键词： guidance law second-order sliding mode super-twisting algorithm linear observer target manoeuvre

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Improved output-feedback second order sliding mode control design with implementation for underactuated slosh-container system having confined track length

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IET CONTROL THEORY AND APPLICATIONS 2017年第8期11卷 1316-1323页

作者： Thakar, Parth S. Bandyopadhyay, Bijnan Gandhi, Prasanna Indian Inst Technol Interdisciplinary Program Syst & Control Engn Bombay 400076 Maharashtra India Indian Inst Technol Dept Mech Engn Bombay 400076 Maharashtra India

In this study, a new second order sliding mode controller is designed through a novel non-linear sliding surface proposal for a slosh-container system. A linear sliding surface based controller using second order sliding mode is also derived for the comparison purpose. Both the controllers need only output measurements. The super-twisting algorithm is employed to ensure the finite time convergence of system trajectories to a second order sliding set. In sliding phase, the asymptotic stability of the system states to a desired origin is proved by proposing a new Lyapunov function for the system. A slosh-container system representing underactuated interconnected non-linear dynamics is considered. It is shown that how the consideration of limited track length of container affects the stability conditions. To generate a position trajectory for container from the control input signal, a new approach is employed for the implementation purpose. It is demonstrated through simulations and experimental results that the proposed controller based on the novel non-linear sliding surface outperforms the other controller based on the linear surface and it is more suitable on various practical aspects. This also validates the theoretical findings of the study.

关键词： variable structure systems feedback control system synthesis nonlinear control systems linear systems asymptotic stability Lyapunov methods interconnected systems sloshing nonlinear dynamical systems flow control improved output-feedback second order sliding mode control design underactuated slosh-container system confined track length nonlinear sliding surface linear sliding surface based controller super-twisting algorithm finite time convergence system trajectory second order sliding set asymptotic stability Lyapunov function underactuated interconnected nonlinear dynamics stability conditions position trajectory control input signal

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super-twisting-based continuous neural networks modelling of second-order interconnected systems

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MATHEMATICAL AND COMPUTER MODELLING OF DYNAMICAL SYSTEMS 2017年第2期23卷 156-176页

作者： Juarez-Lopez, Salvador Camacho, Oscar Chairez, Isaac Univ Autonoma Estado Mexico Dept Comp Ecatepec Mexico Inst Politecn Nacl Ctr Invest Comp Mexico City DF Mexico Inst Politecn Nacl Unidad Profes Interdisciplinaria Biotecnol Mexico City DF Mexico

The aim of this work was to design a non-parametric model of interconnected systems represented by uncertain second-order systems with incomplete information (only the generalized position vector is measurable). Artificial neural networks appeared to be a plausible alternative to get a non-parametric representation of the aforementioned interconnected systems. The modelling strategy used a set of spatial distributed second-order continuous neural networks (CNN). Each node in the interconnected system was represented as a second-order continuous neural network added by the super-twisting discontinuous sliding mode algorithm. The non-parametric modelling problem was reduced to design a feasible expression for the CNN weights in order to reproduce the states (including the generalized derivative of position vector) of all the nodes dynamics together and simultaneously. The adaptive laws for the CNN weights ensured the convergence of the CNN trajectories to the states of the uncertain interconnected system. To investigate the qualitative behaviour of the suggested methodology, two numerical examples were proposed. The first one represents the interconnection of three mass-spring-damper mechanical systems. The second example considers the problem of the non-parametric modelling problem for a wave partial differential equation. A set of three-dimensional graphic representations were used to demonstrate the identification abilities achieved by the CNN designed in this study for the second case.

关键词： Continuous neural networks interconnected systems super-twisting algorithm uncertain systems distributed systems

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Finite-time sliding mode tracking control for active suspension systems via extended super-twisting observer

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 2017年第6期231卷 459-470页

作者： Wang, Gang Chen, Changzheng Yu, Shenbo Guizhou Inst Technol Sch Mech Engn Guizhou 550003 Peoples R China Shenyang Univ Technol Sch Mech Engn Shenyang Peoples R China

In this article, a novel sliding mode tracking control scheme for vehicle active suspension systems with matched and mismatched uncertainties is proposed based on super-twisting concept. In order to stabilize suspension deflection motion to the desired trajectory in finite time, a finite-time sliding mode controller is designed. Specifically, a novel trajectory function is proposed to adjust the suspension performances (e.g. ride comfort, tire dynamic load and suspension deflection). Compared with the first-order sliding mode control method, the proposed tracking control scheme can effectively improve the ride comfort and ensure the suspension deflection constraint. The control scheme requires only the suspension deflection and acceleration feedback and thus is easy to implement. The uncertainties of the active suspension system are considered as a total disturbance term which can be estimated online, and the estimated error can become a vanishing term in finite time using an extended super-twisting disturbance observer. Finally, the proposed control algorithm is applied to a quarter-car active suspension model, and numerical and experimental results are provided to show the merits and effectiveness of the proposed control scheme.

关键词： Finite-time control active suspension systems sliding mode control super-twisting algorithm disturbance observer

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Robust Stabilization of Inverted Pendulum Using ALQR Augmented by Second-Order Sliding Mode Control

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JOURNAL OF CONTROL AUTOMATION AND ELECTRICAL SYSTEMS 2017年第5期28卷 577-584页

作者： Guaracy, Fernando H. D. Pereira, Renan L. de Paula, Caio F. Univ Fed Itajuba UNIFEI Campus ItabiraRua Irma Ivone Drumond 200 BR-35903087 Itabira MG Brazil Univ Fed Itajuba UNIFEI Inst Syst Engn & Informat Technol Av BPS 1303 BR-37500903 Itajuba MG Brazil

In this paper, a robust nonlinear control design strategy to solve the stabilization problem of an inverted pendulum system subject to parametric uncertainties and unmodeled dynamics is proposed. The control strategy is based on the combination of Amplified Linear Quadratic Regulator (ALQR) control with a high-order sliding mode algorithm. Differently from the standard ALQR controller, parametric uncertainties are considered in the design process. Linear matrix inequality conditions are provided to deal with the computational issues arising with the inclusion of this feature. A sliding mode term is added to the ALQR control law to mitigate the effect of unmodeled dynamics, such as dry friction, neglected in the system model. In order to prevent the occurrence of chattering, a high-order sliding mode approach was used, namely the second-order super-twisting algorithm. The effectiveness of the proposed strategy is evaluated through a real experiment performed using the Quanser inverted pendulum plant.

关键词： Amplified linear quadratic regulator Sliding mode control super-twisting algorithm Inverted pendulum LMI

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A Globally Exponentially Convergent I&I Observer for Vehicles with Roll Dynamics

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IFAC-PapersOnLine 2017年第1期50卷 3394-3399页

作者： Romero J.G. Ley-Rosas J.J. Cisneros R. González-Jiménez L.E. Loukianov A.G. Departamento Académico de Sistemas Digitales ITAM Río Hondo 1 Ciudad de México 01080 Mexico CINVESTAV Guadalajara Av. del Bosque 1145 Zapopan CP 45019 Mexico FREEDM Systems Center Keystone Science Center 1791 Varsity Dr Raleigh NC 27606 United States ITESO AC Periférico Sur Manuel Gomez Morín 8585 Tlaquepaque Jalisco 45604 Mexico

In this paper an observer for a vehicle system considering roll dynamics is presented. The observer design is based on the well-known Immerse and Invariance (I&I) technique to estimate the lateral velocity, roll angle and roll velocity of the vehicle from the measurements of the longitudinal/lateral accelerations, longitudinal velocity, yaw rate and steer angle. Furthermore, under practical considerations, global exponential convergence can be assured. To assess the performance of the observer, an observer-based control using the super-twisting algorithm has been derived and validated through numerical simulations. © 2017

关键词： Ground vehicles I&I Observer super-twisting algorithm

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Control of a Synchronous Magnet Generator Using Sliding Modes for Wind Turbine Application 8

Control of a Synchronous Magnet Generator Using Sliding Mode...

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8th International Conference on Applications of Digital Information and Web Technologies (ICADIWT)

作者： Ortega Meza, Daniel Gerardo Morfin Garduno, Onofre Amador Castellanos Garcia, Manuel Ivan UACJ Inst Ingn & Tecnol Elect Engn Program Cd Juarez Chihuahua Mexico UACJ Inst Ingn & Tecnol Cd Juarez Chihuahua Mexico

ISBN: (纸本)9781614997733;9781614997726

On this paper a robust decentralized control system at cascade scheme applied to medium capacity wind systems is proposed. On the first closed-loop subsystem, the PMSG-side converter controller is designed for controlling the angular rotor velocity of a permanent magnet synchronous generator to maximize the wind energy capture. On the second closed-loop subsystem, the grid-side converter controller is designed for regulating the link DC-bus voltage located between two converters, and the reactive power to set a unity power factor. The two proposed controllers are based on a combination of the block control linearization technique and SOSM-super-twisting algorithm. Finally, simulation results of the wind systems are reported to validate the performance of the proposed controller having an oscillatory wind speed as input.

关键词： Permanent magnet synchronous generator super-twisting algorithm grid-side inverter

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A Globally Exponentially Convergent I&I Observer for Vehicles with Roll Dynamics

A Globally Exponentially Convergent I&I Observer for Vehicle...

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20th World Congress of the International-Federation-of-Automatic-Control (IFAC)

作者： Guadalupe Romero, Jose Ley-Rosas, Juan J. Cisneros, Rafael Gonzalez-Jimenez, Luis E. Loukianov, Alexander G. ITAM Dept Acad Sistemas Digitales Rio Hondo 1 Mexico City 01080 DF Mexico CINVESTAV Guadalajara Av Bosgue 1145 Zapopan 45019 Mexico FREEDM Syst Ctr Keystone Sci Ctr 1791 Varsity Dr Raleigh NC 27606 USA ITESO AC Perifer Manuel Gomez Morin 8585 Tlaguepague 45604 Jalisco Mexico

关键词： I&I Observer Ground vehicles super-twisting algorithm

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