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Hardware-in-the-loop verification and real-time simulation of innovative fuzzy super-twisting control technique of doubly-fed induction generators

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ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE 2025年 148卷

作者： Yessef, Mourad Benbouhenni, Habib Lagrioui, Ahmed Ameziane, Hatim Bizon, Nicu Bossoufi, Badre Alhejji, Ayman Sidi Mohamed Ben Abdellah Univ Fac Sci Dhar El Mahraz LIMAS Lab Fes 30000 Morocco Natl Polytech Sch Oran Maurice Audin Dept Elect Engn LAAS Lab BP 1523 Oran Mnaouer Algeria Moulay Ismail Univ ENSAM Meknes 50000 Morocco Sultan Moulay Slimane Univ Natl Sch Appl Sci LaSTI Lab Khouribga 25000 Morocco Natl Univ Sci & Technol POLITEHN Bucharest Pitesti Univ Ctr Dept Environm Engn & Appl Sci Pitesti 110040 Romania Yanbu Ind Coll Dept Elect Engn Yanbu Ind City 46452 Saudi Arabia

The choice of energy command for a doubly-fed induction generator (DFIG) is essential to ensure high energy fineness and good operation. Direct power command (DPC) is one of the approaches used to command power due to its simplicity, ease of realization, and quick dynamic response. However, despite these advantages, the DPC is described by problems that hinder its spread, such as reduced durability if the DFIG parameters change. To augment the competence of the DPC of a DFIG, a new algorithm is proposed that relies on combining both fuzzy logic (FL) and the super-twisting algorithm (STA) to command the DFIG powers, where two FL-STA regulators are used to replace traditional DPC controllers. Also, the pulse width modulation approach converts the reference values created by the FL-STA controllers into pulses to run the machine inverter. The suggested approach is a modification of the DPC, where simplicity, robustness, high competence, and ease of realization are among its most important features. First, the designed algorithm was realized using MATLAB and compared to the DPC, where some tests were used to study the performance and robustness of this method. The simulation results showed the advantage of the DPC-FL-STA over the DPC, as the current harmonics were minimized by rates estimated at 77.98 %, 79.26 %, and 80.50 % in all tests. In addition, the overshoot value of active power has been improved by 27.42 %, 14.55 %, and 22.39 % compared to the DPC. Secondly, the results were verified using empirical work based on Hardware-in-the-loop testing. In the empirical work, two different wind speed profiles were used to study the competence and robustness of the DPC-FL-STA compared to the DPC. The results of the experimental work confirm the results and the efficacy of the DPC-FL-STA in enhancing the fineness of stream and power. These results make the DPC-FL-STA a promising solution for the future.

关键词： super-twisting algorithm Fuzzy logic Hardware-in-the-loop test Doubly-fed induction generator Direct power command Real-time validation

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Multiple-missile fixed-time integrated guidance and control design with multi-stage interconnected observers under impact angle and input saturation constraints

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IET CONTROL THEORY AND APPLICATIONS 2025年第1期19卷

作者： Zhang, Dingye Yu, Hang Dai, Keren Yi, Wenjun Zhang, He Lei, Zhiming Nanjing Univ Sci & Technol Natl Key Lab Transient Phys Nanjing 210094 Peoples R China Nanjing Univ Sci & Technol Sch Mech Engn Nanjing 210094 Peoples R China Chinese Acad Sci Aerosp Informat Res Inst Beijing Peoples R China

In this paper, a novel three-dimensional fixed-time integrated guidance and control (IGC) scheme with multi-stage interconnected observers is proposed for cooperative attacks using multiple missiles against a maneuvering target under impact angle and input saturation constraints. External disturbances, modeling errors, and aerodynamic parameter variations are considered as system uncertainties and a three-channel fully coupled IGC model for multiple missiles is established. The IGC system is designed optimally based on fixed-time stability theory, sliding mode control, and the backstepping technique. Three inter-cascaded fixed-time disturbance observers based on an improved super-twisting algorithm are designed to estimate and compensate for system uncertainties. Second-order command filters are used to constrain virtual control signals, and additional filtering error subsystems are introduced to compensate for the tracking errors of filters. System stability and uniformly ultimately fixed-time boundedness of all states are proven using the Lyapunov stability theory. Finally, the limits of the acceleration components of the maneuvering target perpendicular to the line of sight direction are derived. The effectiveness of the designed IGC scheme and the ability of multi-stage interconnected observers to sense disturbances with each other are verified through simulations. There are three main points: the first one is to add the actuator factors to the existing multiple-missile cooperative guidance law to consider the design of an integrated guidance and control scheme under multiple-missile cooperative guidance;the second one is to design the disturbance observer with the ability to influence and sense each other on the basis of the existing fixed-time disturbance observer based on the improved super-twisting algorithm;and the third one is to derive the limits of a maneuvering target's acceleration perpendicular to the LOS direction under input saturation constraints.

关键词： backstepping sliding mode control command filter fixed-time disturbance observer integrated guidance and control multiple missiles super-twisting algorithm

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Proper implicit discretization of the super-twisting controller-without and with actuator saturation☆

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AUTOMATICA 2025年 173卷

作者： Seeber, Richard Andritsch, Benedikt Graz Univ Technol Inst Automat & Control Christian Doppler Lab Model Based Control Complex Graz Austria Graz Univ Technol Inst Automat & Control Graz Austria

The discrete-time implementation of the super-twisting sliding mode controller for a plant with disturbances with bounded slope, zero-order hold actuation, and actuator constraints is considered. Motivated by restrictions of existing implicit or semi-implicit discretization variants, a new proper implicit discretization for the super-twisting controller is proposed. This discretization is then extended to the conditioned super-twisting controller, which mitigates windup in presence of actuator constraints by means of the conditioning technique. It is proven that the proposed controllers achieve best possible worst-case performance subject to similarly simple stability conditions as their continuous-time counterparts. Numerical simulations and comparisons demonstrate and illustrate the results. (c) 2024 The Author(s). Published by Elsevier Ltd. This is an open access article under the CC BY license (http://***/licenses/by/4.0/).

关键词： Implicit discretization super-twisting algorithm Conditioning technique Actuator saturation

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Speed-sensorless control for SPMSM via novel exponential super-twisting ADRC

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ASIAN JOURNAL OF CONTROL 2025年第3期27卷 1183-1202页

作者： Hu, Mingyuan Park, Jihoon Ahn, Hyeongki You, Kwanho Sungkyunkwan Univ Dept Smart Fab Technol Suwon South Korea Sungkyunkwan Univ Dept Elect & Comp Engn Suwon 16419 Gyeonggi Do South Korea

Although the conventional super-twisting reaching law (CSTRL) maintains the desired tracking performance for disturbed systems, its implementation is challenging due to its dependence on accurate system dynamics. To mitigate this dependence and reduce chattering of CSTRL, a novel exponential super-twisting reaching law (NESTRL) is proposed, leveraging the dynamic adaptability of the exponential reaching law and eliminating chattering. By using NESTRL, the proposed controller can achieve a fast response without chattering. Additionally, a comprehensive procedure for finite convergence time analysis is provided. The convergence conditions of the system's state variables are determined using a Lyapunov function, and the stability of system is proven using an algebraic Lyapunov function. Finally, simulations and experimental results demonstrate that the proposed approach is valid and effective, showing improvements compared to the traditional super-twisting active disturbance rejection control and linear active disturbance rejection control in sensorless control.

关键词： active disturbance rejection control nonlinear flux observer novel exponential super-twisting reaching law super-twisting algorithm

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Generalized Disturbance Estimation Based Continuous Integral Terminal Sliding Mode Control for Magnetic Levitation Systems

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2025年 22卷 1725-1737页

作者： Wang, Junxiao Jiang, Qinchen Wang, Huiming Zhejiang Univ Technol Coll Informat Engn Hangzhou 310023 Peoples R China Chongqing Univ Posts & Telecommun Chongqing Key Lab Complex Syst & Bion Control Chongqing 400065 Peoples R China

For the purpose of better inhibiting the chattering phenomenon and elevating the control performance of the magnetic levitation system under multiple disturbances, a continuous integral terminal sliding mode controller (CITSMC) based on generalized disturbance estimation (GDE) is put forward in this paper. Firstly, stemming from the mechanism modeling approach, an approximate nonlinear model of the magnetic levitation ball system is established, and then the integral terminal sliding mode controller (ITSMC) is designed to guarantee finite-time convergence. Due to the system's vulnerability to multiple external disturbances, the switching gain needs to be selected at a larger value, which will lead to serious chattering problem. As a result of these concerns, a generalized disturbance estimator is proposed, which can effectively estimate and compensate for the multiple disturbances and reduce chattering by selecting a smaller switching gain value. To further eliminate the negative influence of chattering, the super-twisting reaching law is introduced in the design process of ITSMC. The proposed composite controller has the advantages of being chattering-free and having robust anti-interference capabilities. Computer simulations and experiments are employed to double-check the effectiveness and ascendancy of the proposed strategy. Note to Practitioners-Magnetic levitation systems are subject to complicated external multiple disturbances and internal uncertainties as typical open-loop unstable systems with nonlinearity. As a consequence, developing a powerful controller for magnetic levitation systems is a challenging proposition. Firstly, aiming at the asymptotic convergence problem of traditional sliding mode, an integral terminal sliding mode controller is devised to realize finite-time convergence and avoid singularity. Secondly, a generalized disturbance estimator has been proposed for estimating and compensating for multiple disturbances. Finally, for the chatter

关键词： Magnetic levitation system generalized disturbance estimation (GDE) continuous integral terminal sliding mode control (CITSMC) multiple disturbances rejection super-twisting algorithm chattering reduction

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Observer-based adaptive super-twisting fast terminal sliding mode control for attitude of quadrotor with mismatched disturbances

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 2025年第5期239卷 881-891页

作者： Han, Shuzhen Zhang, Shanshan Li, Jianfei Zhao, Zhanshan Tiangong Univ Sch Mech Engn Tianjin Peoples R China Tiangong Univ Sch Comp Sci & Technol Tianjin Peoples R China Tiangong Univ Sch Software 399 Binshui Rd Tianjin 300387 Peoples R China

This paper presents an adaptive super-twisting fast terminal based on disturbance observer sliding mode control method for the attitude tracking of a quadrotor unmanned aerial vehicle in the presence of mismatched disturbances. The attitude tracking controller is formulated based on the introduced adaptive super-twisting technique. The utilization of dynamically adaptive gains in the controllers enhances the system's robustness while reducing chattering effects. Additionally, a non-singular fast terminal sliding surface based on finite-time disturbance observer is defined. This approach effectively addresses the issue of mismatched disturbances while accelerating the convergence of tracking error. The stability analysis of the closed-loop system is established employing Lyapunov function. Finally, the effectiveness and success of the proposed method are validated through simulation and experimental results, with further comparisons to other techniques in terms of tracking performance and robustness.

关键词： Quadrotor UAV adaptive control super-twisting algorithm disturbance observer mismatched disturbance fast terminal control

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Modified Discrete-Time super-twisting Control of PMSM Speed Regulation System: Theory and Experimentation

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IEEE TRANSACTIONS ON POWER ELECTRONICS 2025年第6期40卷 7980-7993页

作者： Mei, Keqi Li, Qiyue Chen, Weile Chen, Chih-Chiang Ding, Shihong Jiangsu Univ Sch Elect & Informat Engn Zhenjiang 212013 Peoples R China Southeast Univ Sch Automat Nanjing 210096 Peoples R China Natl Cheng Kung Univ Dept Syst & Naval Mechatron Engn Tainan 70101 Taiwan

The article puts forward a modified discrete-time super-twisting (DTST) control strategy for the speed regulation system of permanent magnet synchronous motor (PMSM) to strengthen the control efficacy and resilience to disturbances in its digital execution. As opposed to the conventional DTST algorithm, the most discernible attribute for the developed scheme is to displace the discontinuous term in the conventional DTST by dint of a nonsmooth term in consequence of the constraint of the sampling frequency practically speaking. With consideration for this substitution, a flexibly tunable fractional power parameter is introduced to increase the control precision while mitigating the oscillations. The Lyapunov-based theoretical analysis is offered to rigorously validate the convergence for the correspondingly whole system. Eventually, in comparison with two existing control schemes, the effectiveness and superiority of the presented method are experimentally supported in real time through using a 1.5 kW PMSM hardware platform.

关键词： Regulation Switches Real-time systems Convergence Accuracy Torque Electronic mail Training Synchronous motors Nonlinear dynamical systems Digital control permanent magnet synchronous motor (PMSM) speed regulation super-twisting algorithm

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Distributed robust fixed-time secondary frequency and voltage control of islanded microgrids with external disturbances

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ENGINEERING OPTIMIZATION 2025年

作者： Shao, Pan Mei, Xuehui Jiang, Haijun Chen, Siyu Xinjiang Univ Coll Math & Syst Sci Urumqi Peoples R China Yili Normal Univ Coll Math & Stat Yining Peoples R China

This article primarily examines the fixed-time secondary voltage and frequency control of islanded microgrids with external disturbances. First, a distributed observer is introduced to ensure that each distributed generator (DG) can accurately estimate the reference voltage level. Subsequently, a distributed integral sliding mode is constructed through the super-twisting algorithm, and the continuous super-twisting part is used to compensate for the disturbances and eliminate chattering phenomena. Furthermore, a distributed secondary control strategy is designed using the backstepping method, which can achieve fixed-time regulation of voltage and frequency in a microgrid with unknown parameters. Finally, the validity of the method is proved in MATLAB $ <^>{\circledR } $ (R)/SimPowerSystems.

关键词： Fixed-time distributed secondary control super-twisting algorithm integral sliding mode external disturbances

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Robust Control of Golf Swing Robot Using Backstepping Based on Fuzzy Sliding-Mode and super-twisting Backstepping Sliding-Mode algorithms

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UNMANNED SYSTEMS 2025年第2期13卷 439-453页

作者： Benmansour, Souhila Demim, Fethi Messaoui, Ali Zakaria Univ Sci & Technol Oran Mohamed Boudiaf Oran AVCIS Lab Bir El Djir Algeria Ecole Mil Polytech Lab Guidance & Nav Bordj El Bahri Algiers Algeria Ecole Mil Polytech Lab Complex Syst Control & Simulators Bordj El Bahri Algiers Algeria

This paper focuses on trajectory tracking, robustness and stabilization of a golf swing robot which has been recently developed to simulate the ultra-high-speed swing motions of a golfer. The proposed control strategies are based on the Lyapunov stability theory and include Backstepping and Sliding-Mode Control based techniques. To attenuate the chattering phenomena caused by a discontinuous switching function and improve the dynamic response of the manipulator, a fuzzy system is used in this research;a Backstepping Sliding-Mode Controller (BSMC), a Backstepping Fuzzy Sliding-Mode Controller (BFSMC) and a super-twisting Backstepping Sliding-Mode Controller (STBSMC) are used to evaluate the proposed hybrid controller's BFSMC performance. The Lyapunov stability theory is used to guarantee the stability of the proposed closed-loop robot technique. Numerical simulations show the effectiveness of the proposed strategy based on the fuzzy logic mechanism under different disturbances and uncertainties.

关键词： Robust control Backstepping fuzzy logic system sliding mode super-twisting algorithm Lyapunov stability robustness

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A time-varying second-order sliding mode control of super-twisting based on radial basis function neural networks

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JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING 2025年第6期47卷 1-13页

作者： Chen, Jiqing Zhang, Haiyan Pan, Shangtao Zhu, Tongtong Lin, Yizhong Guangxi Univ Coll Mech Engn Nanning 530004 Peoples R China

A manipulator often cannot converge rapidly within finite time and has low tracking accuracy owing to factors such as manipulator model errors and external disturbances. To address these problems, this paper proposes a time-varying second-order sliding mode control of super-twisting based on radial basis function neural networks. First, three radial basis neural networks are optimized by the gradient descent method to approximate the parameters of the dynamic model of the manipulator, thus getting rid of the dependence on the model. Second, a time-varying nonsingular fast terminal sliding mode surface is designed to achieve fast convergence in finite time. Meanwhile, an improved super-twisting algorithm is adopted in combination with the boundary layer concept, which not only eliminates the chattering but also improves the tracking accuracy. Finally, simulation experiments are carried out by simulating a 2-DOF and a 6-DOF manipulator. The results verify the effectiveness and superiority of the proposed method.

关键词： Manipulator Second-order sliding mode control super-twisting algorithm Radial basis function neural networks Trajectory tracking

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