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super-twisting estimator based velocity-free robust tracking control of electro-hydraulic actuators

INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING 2023年第2期37卷 538-552页

作者： Yin, Luyue Yang, Xiaowei Deng, Wenxiang Yao, Jianyong Nanjing Univ Sci & Technol Sch Mech Engn Nanjing 210094 Peoples R China Nanjing Univ Sci & Technol Sch Mech Engn Nanjing 210094 Peoples R China

This article develops a high-precision tracking control without velocity measurement for electro-hydraulic actuators subject to mismatched and matched disturbances. Compared with previous studies, the presented control method is attractive from a practical point of view. First, velocity signal is often approximately derived by numerical differentiation on position signal, nevertheless, accompanied heavy noise will severely deteriorate tracking performance. Thus, to avert using noise-polluted velocity signal, a third-order super-twisting algorithm (STA) is developed to achieve velocity estimation. Second, the STA-based disturbance estimator is employed to estimate and compensate mismatched and matched disturbances in finite time. Then a composite STA-based control law is constructed to achieve a velocity-free high-performance tracking control, in which an employed modified STA only with an adjustable gain is easier to be performed for practical implementation. The stability analysis reveals the proposed controller is asymptotically stable while existing time-variant disturbances. Comparative experiment results validate the superiority of the presented method.

关键词： asymptotical stability electro-hydraulic actuator mismatched and matched disturbances super-twisting algorithm velocity estimation

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Adaptive super-twisting-based nonsingular fast terminal sliding mode control of permanent magnet linear synchronous motor

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL 2023年第16期45卷 3057-3066页

作者： Zhao, Xi-mei Gong, Yun-wei Jin, Hong-yan Xu, Chi Shenyang Univ Technol Sch Elect Engn Shenyang 110870 Peoples R China

In this study, to reduce the impact that permanent magnet linear synchronous motor (PMLSM) servo system on the sensitivity of external and internal interferences, an adaptive super-twisting-based nonsingular fast terminal sliding mode control (AST-NFTSMC) scheme is put forward. First of all, the mathematical model of PMLSM contains uncertainties is set up, and the control law is established to make position signal converge to given state asymptotically. Second, by introducing the super-twisting algorithm, the chattering caused by nonlinear switching function in traditional method is weakened. However, in actual industrial situations, it is difficult to determine the boundary of lumped disturbance, which makes the switching gains in super-twisting algorithm cannot be accurately selected. Therefore, an adaptive law is introduced to adjust the switching gains online, so that the gains can be dynamically adjusted within a limited range during operation, so as to further weaken chattering. Finally, the practicability of AST-NFTSMC is proved in theory and verified by system experiments. The experimental results prove that AST-NFTSMC can significantly weaken chattering, and result in robust control performance.

关键词： PMLSM nonsingular fast terminal sliding mode control super-twisting algorithm adaptive law chattering

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A quasicontinuous multivariable super-twisting observer for 2n states systems with Lipschitz nonlinearities

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2023年第15期33卷 8992-9017页

作者： Lopez-Caamal, Fernando Moreno, Jaime A. Univ Nacl Autonoma Mexico Inst Ingn Coordinac Elect & Comp Mexico City DF Mexico Univ Guanajuato Dept Ingn Quim Guanajuato Mexico

In this article we present a global, finite-time observer for continuous-time nonlinear systems with 2n$$ 2n $$ states whose nonlinearities are characterized by a sufficiently small, globally Lipschitz constant. We consider the measurement of n$$ n $$ independent linear combinations of the system's states and assume that the system is subject to a class of external perturbations and/or an unknown input with a bounded norm for every time. To make use of this observer one requires the linear part of the plant to be observable. Furthermore, our design takes into account the linear part of the plant, instead of considering it as a perturbation in the observer's error dynamics. The observer is endowed with two correction terms: a Luenberger-like gain and the nonlinearities of the generalized multivariable super-twisting algorithm;and it is designed in the original plant's coordinates rather that designing it in a form obtained via the transformation of the state space. To finalize, we assess the observer performance via numerical simulations.

关键词： higher order sliding modes multivariable observers state estimation super-twisting algorithm

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Adaptive second order sliding mode guidance law for missile-target interception with fuzzy logic system

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2023年第11期237卷 2665-2676页

作者： Gursoy-Demir, Handan Efe, Mehmet Onder Hacettepe Univ Grad Sch Sci & Engn Ankara Turkiye Iskenderun Tech Univ Dept Comp Engn Hatay Turkiye Hacettepe Univ Dept Comp Engn Ankara Turkiye

This paper presents the design of a 3D missile guidance law based on a second order sliding mode control technique employing an adaptive tuning law and a fuzzy gain scheduling. At the outset, the super-twisting sliding mode guidance law is obtained to overcome the chattering phenomenon. Then, without the knowledge about the bounds of disturbances, an adaptive law is used to determine the control gains. The results are enhanced using a fuzzy module that provides the controller parameters according to a set of linguistic rules. Finally, a comparative set of simulation results are given. To verify the performance and effectiveness of the proposed guidance law, we compare the performances of the traditional sliding mode (SM) guidance law, the traditional super-twisting sliding mode (STWSM) guidance law, the adaptive super-twisting sliding mode (ASTWSM) guidance law and the adaptive fuzzy super-twisting, sliding mode (AFSTWSM) guidance law. The simulation scenarios consider fundamental target movements. The results demonstrate that the proposed adaptive guidance laws display better performance in terms of miss distance, intercept time, and final closing velocity compared the alternatives considered in this study.

关键词： Guidance laws second-order sliding mode control super-twisting algorithm adaptive control fuzzy logic control

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Three-dimensional continuous-time integrated guidance and control design using model predictive control

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2023年第3期237卷 503-515页

作者： Sheikhbahaei, Reza Khankalantary, Saeed Sharif Univ Technol Dept Mech Engn Tehran Iran KN Toosi Univ Technol Dept Elect Engn Tehran *** Iran

In this study, a novel three-dimensional continuous-time integrated guidance and control (IGC) scheme is presented. The proposed method is developed on the basis of generalized model predictive control (GMPC) approach and super-twisting extended state observer (STESO). The GMPC is used to generate the optimal closed form control law for the interceptor and the STESO is applied to estimate the maneuvering target lateral accelerations as well as the lumped disturbances. To the aim of IGC design, a six-degrees-of-freedom model based on the interceptor-target kinematics and interceptor dynamics is constructed. Afterward, the GMPC control law formulation for a nonlinear system exposed to disturbances is extracted. Finally, the effectiveness of the proposed IGC system is studied by numerical simulations. The simulation results reveal satisfactory interception performance including less energy consumption in comparison to a recently proposed successful IGC method.

关键词： integrated guidance and control generalized model predictive control extended state observer super-twisting algorithm

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Q-learning-based practical disturbance compensation control for hypersonic flight vehicle

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2023年第8期237卷 1916-1929页

作者： Li, Xu Zhang, Ziyi Ji, Yuehui Liu, Junjie Gao, Qiang Tianjin Univ Technol Sch Elect Engn & Automation Bldg 29391 Binshuixi Rd Tianjin Peoples R China Tianjin Key Lab Control Theory & Applicat Complica Tianjin Peoples R China

Aiming at the attitude control problem of hypersonic flight vehicle, a compound control strategy based on the disturbance compensation technique and Q-learning optimization is proposed. Firstly, a three-channel independent control scheme based on the super-twisting extended state observer (STESO) is proposed such that coupling among channels, uncertainties, and external disturbances can be estimated and compensated in real time. Secondly, the Q-learning mechanism is introduced to optimize the control parameters while keeping the control structure unchanged. Lastly, the convergence of the STESO is analyzed by the Lyapunov theory, and some numerical simulation results are carried out to verify the effectiveness of the proposed strategy. Compared with the traditional linear active disturbance rejection control, the proposed method can avoid a lot of manual parameter tuning process and also has better performance.

关键词： Hypersonic flight vehicle attitude control super-twisting algorithm extended state observer Q-learning

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Enhanced backstepping control for an unconventional quadrotor under external disturbances

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AERONAUTICAL JOURNAL 2023年第1310期127卷 627-650页

作者： Belmouhoub, A. Medjmadj, S. Bouzid, Y. Derrouaoui, S. H. Guiatni, M. Univ Mohamed El Bachir El Ibrahimi Mat & Elect Syst Lab Bordj Bou Arreridj Algeria Univ Setif Lab Control Setif Algeria Univ Bordj Bou Arreridj El Anceur Algeria Ecole Mil Polytech Complex Syst Control & Simulators CSCS Lab Algiers Algeria

Robust control of non-linear systems is a challenging task, notably in the presence of external disturbances and uncertain parameters. The main focus of this paper is to solve the trajectory tracking problem of an unconventional quadrotor with rotating arms (also known as a foldable drone), while overcoming some of the challenges associated with this type of vehicle. Therefore, in a first step, the model of this vehicle is presented, taking into account the change of the inertia, the centre of gravity, and the control matrix. The theoretical foundations of backstepping control, based on the finite time Lyapunov stability theory and enhanced by a super-twisting algorithm, are then discussed. Numerical simulations are performed to demonstrate the efficiency of the suggested control approach. Finally, a qualitative and quantitative comparative study of the proposed controller with the conventional backstepping controller is performed. Overall, the obtained results show that the proposed control strategy outperforms in terms of accuracy and resilience.

关键词： Unconventional quadrotor Foldable drone Backstepping control super-twisting algorithm Robust control

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Performance evaluation of iterative learning control with different sliding mode algorithms for the slip-ratio control of an electric vehicle

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2023年第10期33卷 5388-5403页

作者： Denny, C. Dimna Kumar, P. Ramesh APJ Abdul Kalam Technol Univ Dept Elect Engn GEC Thrissur Trichur Kerala India APJ Abdul Kalam Technol Univ Dept Elect Engn GEC Wayanad Wayanad Kerala India

Developing a control strategy that can handle model uncertainties, external disturbances, and parameter fluctuations is essential for the desired operation of a nonlinear system. An attempt is made to develop such a control algorithm using the Learning Variable Structure Control technique. The proposed controllers have the advantages of both iterative learning control (ILC) and sliding mode control (SMC) such that they can compensate both structured and unstructured uncertainties. They are made comprised of modified-twisting algorithm and super-twisting algorithm respectively with the ILC technique. In this article, the performance of the two developed controllers is compared to a traditional SMC-based ILC approach. Based on simulation results, the super-twisting algorithm based ILC is found to be superior with reference to speed of convergence and tracking accuracy. This method is used to control the slip-ratio of an electric vehicle as a specific application in this paper.

关键词： electric vehicle iterative learning control sliding mode control slip-ratio control super-twisting algorithm twisting algorithm

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On implementing the implicit discrete-time super-twisting observer on mechanical systems

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2023年第13期33卷 7532-7562页

作者： Winkler, Alexander Grabmair, Gernot Reger, Johann Univ Appl Sci Upper Austria Control Engn Grp Wels Austria Tech Univ Ilmenau Control Engn Grp Ilmenau Germany Univ Appl Sci Upper Austria Control Engn Grp Stelzhamerstr 23 A-4600 Wels Austria

In this paper, an extension of an algorithm for the implicit discretization of a super-twisting sliding mode observer is presented. Implicit and explicit discretization algorithms for homogeneous differentiators, where no physical model information is considered, are investigated in literature. This article studies the behavior when considering models of a rather general class of nonlinear systems. The discrete equations of the super-twisting observer are reformulated as generalized equation and an algorithm for the step-by-step solution is given. The uniqueness of the derived algorithm is investigated with an equivalent variational inequality formulation which is derived for a class of nonlinear systems. Furthermore, a semi-implicit predictor-corrector discretization is presented which is an approximation method for the presented algorithms and allows an explicit implementation in practical applications. Accuracy properties under noise and sampling are given. The algorithm is applied on two mechanical example systems taken from practice.

关键词： implicit discrete-time implementation mechanical system numerical algorithm robust state estimation super-twisting algorithm

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On the Use of Prescribed-Time super-twisting for Fusing Multiple Redundant Noisy Measurements 12

On the Use of Prescribed-Time Super-Twisting for Fusing Mult...

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2024 IEEE Andescon Conference

作者： Silva, Paula R. Silva, Joao F. Santos, Davi A. Aeronaut Inst Technol Dept Mechatron Sao Jose Dos Campos Brazil

ISBN: (纸本)9798350355291;9798350355284

This paper deals with the robust prescribed-time nonlinear state estimation for fusing multiple redundant noisy sensor measurements. Firstly, we present the prescribed-time super-twisting algorithm (PT-STA), which is a recent modified version of the classical super-twisting algorithm that ensures robust convergence within a prescribed time. Subsequently, the PT-STA is used to design a prescribed-time nonlinear robust state observer for second-order systems subject to disturbances and uncertainties. The observer is then combined with an average-based sensor fusion strategy that further improve the overall estimates in terms of noise rejection and sensor fault tolerance. We introduce sensor fusion algorithm for considering the availability of multiple redundant measurements. The effectiveness of the proposed scheme is illustrated via numerical simulations of a perturbed damped pendulum, under different numbers of measurements and also considering sensor fault. We compare the results with those obtained using the conventional super-twisting observer. The results indicate robust convergence of estimation errors to the origin within the prescribed time, a reduction in measurement noise as the number of measurements is increased, and sensor fault tolerance.

关键词： Multi-sensor fusion prescribed-time convergence super-twisting algorithm

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