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Extremum seeking control based on the super-twisting algorithm ⁎

IFAC-PapersOnLine 2020年第2期53卷 1621-1626页

作者： Ixbalank Torres Fernando López-Caamal Héctor Hernández-Escoto Alejandro Vargas C.A. Telemática Departamento de Ingeniería Electrónica Universidad de Guanajuato Carretera Salamanca-Valle de Santiago Km. 3.5 + 1.8 Comunidad de Palo Blanco C.P. 36885 Salamanca Mexico Departamento de Ingeniería Química Universidad de Guanajuato Noria Alta C.P. 36050 Guanajuato México Laboratorio de Investigación en Procesos Avanzados de Tratamiento de Aguas Instituto de Ingeniería - UNAM Av. Juriquilla 3001 C.P. 76230 Querétaro Mexico

This article addresses the problem of extremum seeking of a continuous-time dynamical system with a single input and a single output. First, a super-twisting-based gradient-based optimization algorithm is proposed to compute the input that leads to the extremum value of an unknown, convex objective function. Since the algorithm requires the input-output gradient of the system’s response, a super-twisting based differentiator is proposed to compute the gradient using the measured output and the controlled input. Feasibility of the extremum seeking controller is demonstrated via closed-loop simulations over a microalgae production photobioreactor.

关键词： Extremum seeking control sliding modes super-twisting algorithm differentiators process control

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Safe Tracking Control of Euler-Lagrangian Systems Based on A Novel Adaptive super-twisting algorithm ⁎

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IFAC-PapersOnLine 2020年第2期53卷 9974-9979页

作者： Zengjie Zhang Yongchao Wang Dirk Wollherr Chair of Automatic Control Engineering Technical University of Munich Munich Germany

In this paper, a novel adaptive second-order sliding mode controller is designed for Euler-Lagrangian systems with hard safety constraints. Different from the conventional sliding mode controllers, the proposed method provides adaptive controller parameters, such that the robustness of the controller is ensured without bringing up chattering. The controller also guarantees strict compliance to hard state-dependent inequality constraints. The asymptotic convergence of the tracking errors of the proposed controller is proven by a direct Lyapunov method. Finally, the proposed controller is validated by numerical simulation on a three-degree-of-freedom robot platform. The results confirm that the controller ensures strict constraint compliance and precise trajectory tracking, which reveals its potential applicability to the safe control of mechatronic systems.

关键词： human-robot interaction adaptive sliding mode control super-twisting algorithm parameter self-tuning robot safety control state-constrained control hard safety constraints

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super-twisting algorithm in presence of time and state dependent perturbations

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INTERNATIONAL JOURNAL OF CONTROL 2018年第11期91卷 2535-2548页

作者： Castillo, I Fridman, L. Moreno, J. A. Univ Nacl Autonoma Mexico Fac Ingn Mexico City DF Mexico Univ Nacl Autonoma Mexico Inst Ingn Mexico City DF Mexico

In this paper, generalized super-twisting algorithm is applied to a class of systems whose perturbation and uncertain control coefficient are time- and state-dependent. A non-smooth strict Lyapunov function is used to... 详细信息

关键词： Sliding modes super-twisting algorithm

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CONTINUOUS FIXED-TIME CONVERGENT super-twisting algorithm IN CASE OF UNKNOWN STATE AND DISTURBANCE INITIAL CONDITIONS

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ASIAN JOURNAL OF CONTROL 2019年第1期21卷 323-338页

作者： Basin, Michael Rodriguez-Ramirez, Pablo Garza-Alonso, Alison Autonomous Univ Nuevo Leon Dept Phys & Math Sci San Nicolas De Los Garza Nuevo Leon Mexico ITMO Univ St Petersburg Russia

This paper presents a fixed-time convergent super-twisting-like algorithm designed to provide a direct extension, without any additional terms, of the conventional super-twisting control system, whose state initial condition is unknown and the disturbance initial condition is bounded by a known constant or even completely unknown. The fixed-time convergent super-twisting-like algorithm is first designed for a scalar system and then generalized to a multi-variable one. An upper estimate of its convergence (settling) time is calculated in each case. Several examples are provided to illustrate the obtained theoretical results.

关键词： super-twisting algorithm fixed-time convergence settling time estimation

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Robust Non-overshooting Tracking and Model Following Controller using Multi-variable super-twisting algorithm 6

Robust Non-overshooting Tracking and Model Following Control...

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6th Indian Control Conference (ICC)

作者： Ganguly, Siddhartha Bera, Manas Kumar Roy, Prasanta Indian Inst Technol Syst & Control Engn Mumbai 400076 Maharashtra India NIT Silchar Dept Elect & Instrumentat Engn Silchar Assam India NIT Silchar Dept Elect Engn Silchar Assam India

ISBN: (纸本)9781728138602

This paper presents the design of robust tracking and model following (RTMF) controller based on multivariable super-twisting algorithm (MSTA) for a class of uncertain multiinput multi-output (MIMO) linear-time invariant (LTI) systems. The desired behavior of the uncertain plant is achieved by defining a model with ideal response characteristics, and a controller based on MSTA is designed so that the asymptotic convergence of error between the output of the plant and model can be guaranteed. To ensure the good transient response while tracking without overshoot, a model has been developed based on non-overshooting control technique. The robust supertwisting sliding mode controller helps to achieve the desired system performance by following this model response faithfully, rejecting the disturbance with a continuous control. Finally, this strategy has been validated through numerical simulation considering a MIMO quadruple tank process (QTP). The simulated results are presented to illustrate the effectiveness of the proposed RTMF controller.

关键词： Sliding mode control super-twisting algorithm Model following control Quadruple tank process Non-overshooting contol

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Third order super twisting algorithm applied to a robotic arm with 3 degrees of freedom 5

Third order super twisting algorithm applied to a robotic ar...

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5th IEEE Colombian Conference on Automatic Control (IEEE CCAC) - Technological Advances for a Sustainable Regional Development

作者： Conejo-Benitez, Cesar E. Torres, Ixbalank Rocha-Cozatl, Edmundo Angel Diosdado-De la Pena, Jose Univ Guanajuato DICIS Dept Ingn Elect Salamanca Mexico Univ Nacl Autonoma Mexico DIMEI Dept Ingn Mecatron Ciudad De Mexico Mexico Univ Guanajuato DICIS Dept Ingn Mecan Salamanca Mexico

ISBN: (纸本)9781665418836

This work presents the modeling and simulation of a robotic arm with three degrees of freedom (3 DOF), and the implementation of a robust closed-loop control law, based on the third-order super twisting algorithm (3 STA), to direct the final position of the robotic arm to a different position from the initial one within its workspace, even in the presence of perturbations and parametric uncertainties in the dynamic model. To achieve the robotic arm movement, a linear trajectory was planned with the use of the kinematic model and a fifth degree polynomial. Smooth movements are therefore generated in each joint during the execution of the trajectory.

关键词： robotic arm kinematic and dynamic model trajectory planning super-twisting algorithm sliding mode control

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Dynamic Process Elimination Control Strategy based on super-twisting algorithm for Droop-Controlled Grid-Connected Inverter 10

Dynamic Process Elimination Control Strategy based on Super-...

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10th International Conference on Power Electronics and ECCE Asia (ICPE - ECCE Asia)

作者： Zhang, Wei Liu, Hongpeng Wang, Wei Blaabjerg, Frede Harbin Inst Technol Sch Elect Engn & Automat Harbin Peoples R China Aalborg Univ Dept Energy Technol Aalborg Denmark

ISBN: (纸本)9788957083130

Droop-controlled inverter can operate in both islanded and grid-connected mode without reconfiguring the control structure, which can achieve a seamless transfer between both modes. The traditional double-loop structure based on proportional resonant controller is usually utilized to regulate a drooped voltage across local loads or inject power to the grid, but the dynamic process of load variation and mode transfer can hardly be satisfied. To solve this issue, a based super-twisting algorithm double-loop has been proposed here, which not only improve the dynamic process of mode transfer, but is also robust to the system parameters mismatch. Simulation and experimental results validate the correctness and feasibility of the proposed method.

关键词： Droop control grid-connected inverter dynamic process elimination super-twisting algorithm

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On the Fragility of Multivariable super-twisting algorithm for non-Symmetric Uncertain Input Matrix 58

On the Fragility of Multivariable Super-Twisting Algorithm f...

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58th IEEE Conference on Decision and Control (CDC)

作者： Keijock, Timon Asch Nunes, Eduardo V. L. Hsu, Liu Univ Fed Rio de Janeiro COPPE BR-21941901 Rio De Janeiro RJ Brazil

ISBN: (纸本)9781728113982

A non-decoupled MIMO super-twisting algorithm (STA) extension, not requiring the exact knowledge of the system input matrix was recently developed. However, a symmetry assumption had to be made on the uncertain gain matrix. In this paper, we exploit how far from the symmetric case the stability of the multivariable algorithm can be preserved. Some asymmetry bounds are theoretically established showing that for small enough asymmetry, stability can be guaranteed. Moreover, the Lyapunov function used in the analysis, leads to a rather sharp detection of instability, when asymmetry increases. Surprisingly, it also reveals that the actual asymmetry allowance can be quite small suggesting some fragility of the algorithm for the class of uncertainty considered. This motivates the need of new developments for more robust multivariable STA as an interesting open problem.

关键词： super-twisting algorithm higher-order sliding modes multivariable control uncertain systems

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SECOND-ORDER SLIDING MODE FOR POSITION AND ATTITUDE TRACKING CONTROL OF QUADCOPTER UAV: super-twisting algorithm

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INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL 2020年第1期16卷 29-43页

作者： Matouk, Djihad Abdessemed, Foudil Gherouat, Oussama Terchi, Younes Mostefa Ben Boulaid Univ Batna 2 Dept Elect LEA Lab 53 Route Constantine Fesdis 05078 Batna Algeria Ferhat Abbas Univ Setif 1 Dept Elect LSI Lab Cite El Maabouda 19000 Setif Algeria Ferhat Abbas Univ Setif 1 Dept Elect Cite El Maabouda 19000 Setif Algeria

Currently, tracking control of UAVs type quadcopter is a hot spot for researchers. In order to solve this control problem, the choice of the appropriate controller, according to the desired objectives, is a fundamental concern. Regardless of the harmful chattering phenomena, sliding mode control (SMC) has shown acceptable performance. In this paper, trajectory tracking control of the quadcopter is carried out through second-order sliding mode control (2-SMC). It is one of the alternative solutions that preserves the advantages of the conventional SMC while avoiding the undesirable chattering effect. Specifically, the super-twisting algorithm, which is modified 2-SMC that prevents the need for any sliding variable derivative, is adopted. For the sake of ensuring stability and enhancing the quadcopter tracking trajectory, a global block control based on the super-twisting algorithm is designed. The proposed technique offers high stability since it allows the derivation of the appropriate control law for each position and attitude state. Simulation results illustrate the efficiency of this approach in terms of stability and tracking control. A comparison study with classical SMC and type-2 fuzzy logic controller is given to clarify the effectiveness of the proposed 2-SMC.

关键词： Quadcopter UAV Full trajectory tracking Nonlinear control Second-order sliding mode control super-twisting algorithm

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Continuous Fixed-Time Convergent super-twisting algorithm in Case of Unknown State and Disturbance Initial Conditions

Continuous Fixed-Time Convergent Super-Twisting Algorithm in...

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作者： Basin, Michael Rodriguez-Ramirez, Pablo Garza-Alonso, Alison Department of Physical and Mathematical Sciences Autonomous University of Nuevo Leon San Nicolas de los GarzaNuevo Leon Mexico ITMO University St. Petersburg Russia

This paper presents a fixed-time convergent super-twisting-like algorithm designed to provide a direct extension, without any additional terms, of the conventional super-twisting control system, whose state initial condition is unknown and the disturbance initial condition is bounded by a known constant or even completely unknown. The fixed-time convergent super-twisting-like algorithm is first designed for a scalar system and then generalized to a multivariable one. An upper estimate of its convergence (settling) time is calculated in each case. Several examples are provided to illustrate the obtained theoretical results. © 2018 Chinese Automatic Control Society and John Wiley & Sons Australia, Ltd

关键词： fixed-time convergence settling time estimation super-twisting algorithm

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