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IEEE Transportation and Electrification Conference and Expo (ITEC)

作者： Li, Qian Huangfu, Yigeng Zhao, Dongdong Xie, Minchi Zhao, Jun Northwestern Polytech Univ Xian 710072 Shaanxi Peoples R China AVIC Comp Tech Res Inst Xian 710065 Shaanxi Peoples R China

ISBN: (纸本)9781538630488

As one of the most common step-down DC-DC switching power converters, Buck converters with the simple structure and easy control are widely applied to the fuel cell electric vehicles. In order to reduce chattering phenomenon which is inherent in conventional sliding mode control and solve the problem of slower convergence rate of the linear sliding surface, this paper presents a novel super-twisting algorithm based on the fast terminal sliding surface (STA+FTSS) strategy on basis of the super-twisting algorithm based on the linear sliding surface (STA+LSS) by adding the nonlinear term to LSS. Comparisons of numerical simulation results between the STA+LSS and the STA+FTSS are presented and discussed for various test conditions such as steady state, input voltage variations, output load disturbance and uncertainness in circuit parameter. It is worth to note that the proposed controller has a better performance related to the STA+LSS in terms of the transient response time and robustness to the disturbance.

关键词： Buck converter electric vehicles fast terminal sliding surface super-twisting algorithm transient response time robustness

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Optimal super-twisting algorithm with time delay estimation for robot manipulators based on feedback linearization

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ROBOTICS AND AUTONOMOUS SYSTEMS 2018年 108卷 87-99页

作者： Kali, Yassine Saad, Maarouf Benjelloun, Khalid Ecole Technol Super Montreal PQ H3C 1K3 Canada Univ Mohammed 5 Ecole Mohammadia Ingn Rabat Morocco

In this paper, an Optimal super-twisting algorithm COSTA) with time delay estimation is designed based on Input/Output feedback linearization for uncertain robot manipulators. The design procedure consists on three steps. Firstly, an Input/Output feedback linearization is applied to transform the nonlinear model into a linear equivalent one. Secondly, by defining a quadratic performance, an optimal sliding surface will be designed. Finally, a super-twisting algorithm with time delay estimation is proposed for high accuracy tracking trajectory. Lyapunov theory is used to prove the finite-time convergence of the sliding surface and its derivative. This structure is used to estimate unknown dynamics and to reduce the control effort and the chattering phenomenon. (C) 2018 Elsevier B.V. All rights reserved.

关键词： super-twisting algorithm Feedback linearization Time delay estimation Lyapunov Uncertain robot manipulators

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Continuous Nonsingular Fast Terminal Sliding Mode Control of Cable-Driven Manipulators With super-twisting algorithm

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IEEE ACCESS 2018年 6卷 49626-49636页

作者： Wang, Yaoyao Yan, Fei Chen, Jiawang Chen, Bai Nanjing Univ Aeronaut & Astronaut Coll Mech & Elect Engn Nanjing 210016 Jiangsu Peoples R China Zhejiang Univ State Key Lab Fluid Power & Mechatron Syst Hangzhou 310027 Zhejiang Peoples R China Zhejiang Univ Ocean Coll Hangzhou 310029 Zhejiang Peoples R China

For the high-accuracy tracking control purpose of cable-driven manipulators under complex lumped uncertainties, a novel continuous nonsingular fast terminal sliding mode (CNFTSM) control scheme using a modified super-twisting algorithm (STA) is proposed and investigated in this paper. The proposed method applies the time-delay estimation (TDE) technique to estimate and compensate the unknown lumped system dynamics leading to an attractive model-free nature. Then, the NFTSM manifold and the modified STA scheme are used to ensure finite-time convergence performance in both the reaching and sliding mode phases. Thanks to the TDE technique, the proposed method is model-free and suitable to use in complicated practical applications;meanwhile, fast convergence, high tracking accuracy, and good robustness against lumped uncertainties can be ensured befitting from the CNFTSM control with NFTSM error dynamics and STA schemes. Stability of the closed-loop control system is proved. Finally, 2 degrees of freedom comparative simulations and experiments were performed to demonstrate the effectiveness and superiorities of our proposed method over the existing TDE-based robust control schemes.

关键词： Continuous nonsingular fast terminal sliding mode cable-driven manipulator time-delay estimation super-twisting algorithm

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Adaptive gains of dual level to super-twisting algorithm for sliding mode design

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IET CONTROL THEORY AND APPLICATIONS 2018年第17期12卷 2347-2356页

作者： Luo, Dong Xiong, Xiaogang Jin, Shanghai Kamal, Shyam Huazhong Univ Sci & Technol Wuhan Natl Lab Optoelect Wuhan Hubei Peoples R China Harbin Inst Technol Shenzhen Sch Mech Engn & Automat Shenzhen Key Lab Mech & Control Aerosp Shenzhen 518055 Peoples R China Yanbian Univ Sch Engn Yanji 133002 Peoples R China BHU Indian Inst Technol Dept Elect Engn Varanasi 221005 Uttar Pradesh India

A gain-adaption mechanism of a dual level to the super-twisting algorithm (STA) for adaptive sliding mode design is studied. The proposed dual level method first tunes a third-order sliding mode observer to exactly estimate the magnitude level of external disturbances, and then adjusts the two gains (a, beta) of STA online simultaneously such that a second-order sliding mode can take place with small rectifying gains. The gains of the third-order sliding mode observer are adjusted by exploring the homogeneous property such that only one auxiliary parameter L is needed to be tuned. The magnitude of this parameter L increases until the error between the observer output and actual disturbance disappears. While driving the sliding variable to the sliding mode surface of STA, one gain beta of the STA automatically converges to an adjacent area of the perturbation magnitude in finite time. The other gain a is adjusted by the gain beta to guarantee the robustness of the STA. This method requires no intervention during adaptation. The usefulness is illustrated by an example of designing an equivalent control-based sliding mode control with the proposed adaptive STA for a perturbed linear time-invariant system.

关键词： variable structure systems adaptive control control system synthesis observers adaptive gains super-twisting algorithm mode design gain-adaption mechanism dual level method third-order sliding mode magnitude level external disturbances STA online simultaneously second-order sliding mode rectifying gains sliding variable sliding mode surface mode control adaptive STA

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super-twisting algorithm-Based Sliding-Mode Observer for Synchronization of Nonlinear Incommensurate Fractional-Order Chaotic Systems Subject to Unknown Inputs

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ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING 2017年第7期42卷 3065-3075页

作者： Al-Saggaf, Ubaid Muhsen Bettayeb, Maamar Djennoune, Said King Abdulaziz Univ Ctr Excellence Intelligent Engn Syst CEIES Jeddah Saudi Arabia King Abdulaziz Univ Elect & Comp Engn Dept Jeddah Saudi Arabia Univ Sharjah Dept Elect & Comp Engn Sharjah U Arab Emirates King Abdulaziz Univ Ctr Excellence Intelligent Syst CEIES Jeddah Saudi Arabia Univ Mouloud Mammeri Lab Concept & Conduite Syst Prod Tizi Ouzou Algeria

This paper deals with the design of super-twisting algorithm-based sliding-mode observer for uncertain nonlinear fractional-order system subject to unknown inputs. Fractional-order super-twisting algorithms (FSTA) are proposed for both commensurate and incommensurate fractional-order nonlinear systems. Then, step-by-step sliding-mode observers based on the FSTA are designed. Finite-time convergence and robustness are proven. Finally, application to the synchronization of two fractional-order chaotic systems is given.

关键词： Fractional-order nonlinear system Sliding modes super-twisting algorithm Unknown input observer Chaotic synchronization

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Robust Finite-time Position and Attitude Tracking of a Quadrotor UAV using super-twisting Control algorithm with Linear Correction Terms 16

Robust Finite-time Position and Attitude Tracking of a Quadr...

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16th International Conference on Informatics in Control, Automation and Robotics (ICINCO)

作者： Kali, Yassine Rodas, Jorge Saad, Maarouf Gregor, Raul Alqaisi, Walid Benjelloun, Khalid Ecole Technol Super GREPCI Lab Montreal PQ H3C 1K3 Canada Univ Nacl Asuncion Fac Ingn Lab Power & Control Syst Asuncion Paraguay Mohammed V Univ Ecole Mohammadia Ingn A2I Lab Rabat Morocco

ISBN: (纸本)9789897583803

This work investigates the problem of finite-time position and attitude trajectory of quadrotor unmanned aerial vehicle systems based on a modified second order sliding mode algorithm. The selected algorithm is a modified super-twisting with both nonlinear and linear correction terms. It ensures robustness against unknown dynamics and perturbations and allows fast finite-time convergence even when the trajectories of the considered system are far from the user-chosen switching surface. In addition, this algorithm is very attractive since it solves the major problems of the first and second order sliding mode, namely, the chattering phenomenon and the required unavailable information for practical implementation. To show the effectiveness of the used modified structure of the super-twisting algorithm, simulation results are presented for the considered quadrotor system.

关键词： Quadrotor Unmanned Aerial Vehicle Position and Attitude Tracking Finite-time Convergence super-twisting algorithm

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Output-Feedback Multivariable Global Variable Gain super-twisting algorithm

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2017年第6期62卷 2999-3005页

作者： Vidal, Paulo V. N. M. Nunes, Eduardo V. L. Hsu, Liu Univ Fed Rio de Janeiro COPPE BR-21941901 Rio De Janeiro RJ Brazil

A novel output-feedback super-twisting algorithm design is proposed for uncertain multivariable plants. In order to allow global finite-time exact tracking in the presence of a rather general class of matched nonlinear disturbances which may depend on measured and/or unmeasured states, the algorithm is designed with variable gains. This represents a significant extension of a recently proposed nondecoupled multivariable super-twisting algorithm, based on state-feedback with fixed gains, to the case of output-feedback with variable gains.

关键词： Global exact tracking higher-order sliding modes multivariable control output-feedback super-twisting algorithm uncertain nonlinear systems

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A new modified super-twisting algorithm with double closed-loop feedback regulation

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL 2017年第11期39卷 1603-1612页

作者： Yang, Yi Qin, Shiyin Beijing Univ Aeronaut & Astronaut Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China Henan Polytech Univ Sch Elect Engn & Automat Jiaozuo Peoples R China

In order to improve the convergence of a sliding variable in super-twisting algorithm (STA), two linear correction terms are added to the classical STA to form a structure of double closed-loop feedback. The new regulation mechanism can accelerate the sliding variable approaching the sliding surface and simultaneously limit knotty overshoot. A series of simulation results indicate the new modified STA can shorten the settling time of the sliding variable effectively and provide stronger robustness. Moreover, the position tracking test results on DC servo system validate the advantageous performance of the modified STA proposed in this paper.

关键词： Double closed-loop feedback sliding mode control super-twisting algorithm

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Speed Control of a Five-Phase Induction Motor Drive using Modified super-twisting algorithm

Speed Control of a Five-Phase Induction Motor Drive using Mo...

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International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM)

作者： Kali, Y. Rodas, J. Saad, M. Gregor, R. Benjelloun, K. Doval-Gandoy, J. Goodwin, G. Quebec Univ Ecole Technol Super Montreal PQ H3C 1K3 Canada Univ Nacl Asuncion Fac Ingn Lab Power & Control Syst San Lorenzo Paraguay Univ Mohammed 5 Ecole Mohammadia Ingn Lab A2I Rabat Morocco Univ Vigo Appl Power Elect Technol Res Grp Vigo Spain Univ Newcastle Sch Elect Engn & Comp Sci Callaghan NSW Australia

ISBN: (纸本)9781538649411

Field oriented control, with an outer speed loop and inner current loops, has been the most common control strategy for multiphase drives. For the inner current control, the proportional-integral pulse-width modulation and finite-control-set model predictive control have been the most analyzed implementations. The present work proposes an alternative for the inner current control based on the modified super-twisting algorithm with time delay estimation. Simulation results were carried out to verify the performance of the proposed robust control strategy for a five-phase induction motor drive. A stability analysis is also presented.

关键词： super-twisting algorithm time delay estimation multiphase induction machine speed control current control field oriented control

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super twisting control algorithm for Velocity Control of Mobile Wheeled Inverted Pendulum Systems

Super twisting control algorithm for Velocity Control of Mob...

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IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)

作者： Zhang, Mengshi Huang, Jian Chen, Fei Huazhong Univ Sci & Technol Sch Automat Minist Educ Image Proc & Intelligent Control Key Lab Wuhan 430074 Hubei Peoples R China Beijing Adv Innovat Ctr Intelligent Robots & Syst Beijing 100081 Peoples R China Ist Italiano Tecnol Dept Adv Robot Via Morego 30 I-16163 Genoa Italy

ISBN: (纸本)9781538680377

This paper deals with the design and verification of a nonlinear control algorithm for the Mobile Wheeled Inverted Pendulum (MWIP) systems. The algorithm is based on the second-order sliding mode control known as super-twisting algorithm (STA) which is able to eliminate the "chattering" phenomenon and ensure robustness with respect to bounded disturbances. The stability of the closed-loop system can be guaranteed according to Lyapunov theorem. In order to show the effectiveness of the proposed controller, a simulation was carried out to make the basic MWIP model move at a constant speed. Additional simulation-testings considering model uncertainties and external disturbances were also provided to verify the effectiveness and robustness of the STA. Comparisons with the Sliding Mode Control (SMC) were given to demonstrate the superiorities of the STA and the results show the favorable performance of the proposed controller in terms of chattering elimination and robustness.

关键词： Mobile Wheeled Inverted Pendulum super-twisting algorithm Velocity Control Chattering Elimination

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