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Fault estimation and adaptive fault tolerant control for dynamic systems based on the second-order sliding mode observer

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 2016年第3期230卷 222-230页

作者： Li, Fei Hu, Zhenggao Zhao, Guorong Naval Aeronaut & Astronaut Univ Dept Control Engn Yantai Peoples R China Bengbu Naval Petty Officer Acad 1454 Yanshan Rd Bengbu 233012 Peoples R China

This article is concerned with observer-based fault estimation and adaptive fault tolerant control for a class of continuous-time dynamical systems. First, a second-order sliding mode observer is proposed, which is capable to eliminate chattering effects for fault estimation caused by the conventional sliding mode observer. Second, in order to avoid the cumbersome stability proving process by the geometric method, a Lyapunov function is adopted to prove the observer error dynamical system. Third, based on the estimated fault information by the proposed observer, an adaptive fault tolerant control law is developed to guarantee the stability of the faulty system. Finally, the proposed method is applied to the Boeing 747-100/200 flight control system, and the simulation results verify the effectiveness of the proposed scheme.

关键词： Fault estimation adaptive fault tolerant control second-order sliding mode observer super-twisting algorithm Lyapunov function

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Finite-time tracking control of vibration displacement for continuous casting mold with control saturation

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JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING 2022年第1期44卷 1-10页

作者： Ma, Zhuang Fang, Yiming Xu, Miao Zhou, Jian Yanshan Univ Key Lab Ind Comp Control Engn Hebei Prov Qinhuangdao 066004 Hebei Peoples R China Tangshan Univ Key Lab Intelligent Data Informat Proc & Control Tangshan 063000 Hebei Peoples R China

To address the displacement tracking problems with control current saturation and fast time-varying load torque for continuous casting mold driven by permanent magnet synchronous motor, an adaptive super-twisting algorithm (STA) sliding mode control with finite-time convergence is proposed. Firstly, aiming at the problem of control current saturation, the mathematical model of the vibration displacement system of continuous casting mold is established. Secondly, an extended state observer, which is convergent in finite-time, is employed for estimating the unmeasured states, the disturbances and the other uncertainties of the system. Thirdly, an adaptive STA sliding mode controller of vibration displacement system for continuous casting mold is designed, and the stability analysis shows that the closed-loop system is stable and convergent in finite-time. Finally, simulation results demonstrate the effectiveness of the proposed control method.

关键词： Continuous casting mold super-twisting algorithm Control current saturation Extent state observer Finite-time

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

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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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Saturated STA-based sliding-mode tracking control of AUVs: Design, stability analysis, and experiments

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OCEAN ENGINEERING 2024年 301卷

作者： Guerrero, Jesus Chemori, Ahmed Creuze, Vincent Torres, Jorge Campos, Eduardo Tecnol Nacl Mexico ITS Abasolo Mechatron Dept Abasolo Mexico Univ Montpellier LIRMM CNRS Montpellier France Natl Polytech Inst CINVESTAV Ctr Res & Adv Studies Mexico City Mexico Univ Istmo CONACYT Santo Domingo Tehuantepec Oaxaca Mexico

In this study, we developed a saturated super -twisting algorithm for autonomous underwater vehicles to address the trajectory tracking problem. On the basis of Lyapunov arguments, we performed a stability analysis of the resulting closed -loop system under the proposed controller, considering the MIMO system dynamics, parametric uncertainties, and external disturbances. Finally, we conducted several real-time experiments to demonstrate the effectiveness and robustness of the proposed control solution as compared to the traditional super -twisting algorithm.

关键词： Robust control super-twisting algorithm AUV Stability analysis Real-time experiments

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Digital Implementation via FPGA of Controllers for Active Control of Ground Vehicles

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IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 2019年第4期15卷 2253-2264页

作者： Acosta Lua, Cuauhtemoc Di Gennaro, Stefano Navarrete Guzman, Antonio Ortega-Cisneros, Susana Rivera Dominguez, Jorge Univ Guadalajara Ctr Univ Cienega Dept Ciencias Tecnol Guadalajara 47820 Jalisco Mexico Dept Informat Engn Comp Sci & Math I-67100 Laquila Italy Ctr Excellence DEWS I-67100 Laquila Italy Inst Tecnol Tep Ave Tecnol 2595 Tepic 63175 Mexico Inst Politecn Nacl Ctr Invest & Estudios Avanzados Unidad Guadalajara Zapopan 45010 Jalisco Mexico IPN Conacyt CINVESTAV Unidad Guadalajara Guadalajara 45010 Jalisco Mexico

This paper studies the implementation issues of a discrete-time super-twisting controller on a field-programmable gate array (FPGA). It is shown how it is possible to enhance this implementation using a pipelining technique. The controller is designed on the basis of a discrete-time vehicle model recently presented. The super-twisting algorithm ensures some robustness properties in the presence of unknown bounded perturbations. It is shown that the pipelined implementation of the super-twisting controller on an FPGA allows lower execution times, and hence, smaller sampling times than its naive implementation. Therefore, the pipelining technique allows the implementation of more sophisticated controllers for vehicle control. Moreover, it is shown that the power consumption of the pipelined control algorithm is lower than a conventional one, which is an important aspect for onboard automobile systems. Since the pipelined implementation of the controller requires shorter times, even if the controller performance is similar to that of the no-pipelined one, the use of pipelining techniques allows the consideration of cheaper FPGAs with less performance. Such results show that the FPGA technology, along with methodological solutions for optimal controller implementation, represents an appealing alternative to electronic control units.

关键词： Active front steering digital control implementation discrete-time control field-programmable gate array (FPGA) rear torque vectoring super-twisting algorithm vehicle dynamics

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An adaptive second-order sliding-mode observer for permanent magnet synchronous motor with an improved phase-locked loop structure considering speed reverse

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL 2020年第5期42卷 1008-1021页

作者： Zhan, Yuan Guan, Jifu Zhao, Yufeng Beijing Inst Technol Sch Mech Engn 5 South Zhongguancun St Beijing 100081 Peoples R China

An adaptive second-order sliding-mode observer based on super-twisting algorithm (STA-SMO) to estimate rotor position and speed of permanent magnet synchronous motor (PMSM) is proposed in this paper. The advantages of the proposed observer algorithm are reflected in small chattering, high tracking accuracy, good robustness to parameters change and external disturbance in wide positive and reversal speed range. The Lyapunov stability of the system is proved. A new perturbation term form is employed and according to the stable condition of STA-SMO, the adaptive sliding-mode coefficients related to absolute value of estimated speed are deduced to guarantee the performance mentioned above in wide positive and negative speed range. In order to extract rotor position and speed in both speed range from the adaptive STA-SMO, an improved conventional phase-locked loop (IPLL), which is more accurate, is studied and its non-linear dynamics are analyzed in detail to prove the effectiveness of the IPLL theoretically. In the end, the effectiveness of the adopted adaptive second-order sliding-mode observer with IPLL structure is verified through simulations. Simulation results show that the position error and chattering of the proposed adaptive observer are decreased more than 25% and 50% compared with conventional SMO and STA-SMO in wide positive and negative speed range. Meanwhile, the proposed system still has good estimation performance and strong robustness with torque and parameters variation.

关键词： Permanent magnet synchronous motor super-twisting algorithm sliding mode observer phase-locked loop

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super-twisting sliding mode control with defined boundary layer for chattering reduction of permanent magnet linear synchronous motor

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JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY 2021年第5期35卷 1829-1840页

作者： Tan, Lingwei Gao, Jian Luo, Yuheng Zhang, Lanyu Guangdong Univ Technol State Key Lab Precis Elect Mfg Equipment & Techno Sch Electromech Engn Guangzhou 510006 Peoples R China Guangdong Univ Technol Key Lab Intelligent Detect & Internet Things Mfg Minist Educ Guangzhou 510006 Peoples R China

The super-twisting algorithm (STA, a class of second-order sliding mode control (SOSMC)) is widely used in permanent magnet linear synchronous motor (PMLSM) systems for its least amount of information and simplest calculations among the SOSMC algorithms. Due to the discretization and sign function of the STA, the chattering problem may be induced. In this paper, we propose an STA method with a defined boundary layer (called delta STA) to further reduce chattering in high-precision positioning system. With the delta STA method, when the sliding variable crosses the zero point, the speed is adjusted via two different saturation functions, instead of discontinuous sign functions of the STA. The proposed control law was proven to be stable, ensuring the establishment of a second-order sliding mode. Both the simulation and experimental results showed that the proposed control scheme, with a defined boundary layer width, can improve the steady-state positioning accuracy and significantly reduce system chattering.

关键词： Boundary layer Chattering reduction PMLSM Second-order sliding mode super-twisting algorithm Stability analysis

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Adaptive Fractional-Order Non-Singular Fast Terminal Sliding Mode Control Based on Fixed Time Disturbance Observer for Manipulators

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IEEE ACCESS 2022年 10卷 76504-76511页

作者： Zhang, Xin Quan, Ying Lanzhou Jiaotong Univ Sch Automat & Elect Engn Lanzhou 730070 Peoples R China Gansu Prov Engn Res Ctr Artificial Intelligence & Graph & Image Proc Lanzhou 730070 Peoples R China

In this study, with the help of a disturbance observer, an adaptive fractional-order sliding mode control scheme is designed to achieve trajectory tracking control of indeterminate manipulators. Firstly, the fractional-order non-singular fast terminal sliding mode (FO-NFTSM) surface is presented to increase the convergence velocity of the controller. Secondly, the adaptive reaching law is designed on the strength of the super-twisting algorithm to ensure the control performance of the approaching stage. Meanwhile, aiming at the compound disturbance existing in the manipulator system, an adaptive fixed-time sliding mode disturbance observer (AFSMDO) is introduced to settle the problem, which can estimate the lumped disturbance in real-time. Moreover, compensate for the system and raise the precision of the controller. The Lyapunov method is applied to certify the stability of the control system. Simulation experiments verify the superior property of the controller designed in this article.

关键词： Manipulator dynamics Sliding mode control Robustness Convergence Heuristic algorithms Disturbance observers Trajectory tracking Manipulator terminal sliding mode super-twisting algorithm fixed-time disturbance observer

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Observer-based continuous adaptive sliding mode control for soft actuators

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NONLINEAR DYNAMICS 2021年第1期105卷 371-386页

作者： Cao, Guizhou Liu, Yanhong Jiang, Yichen Zhang, Fangfang Bian, Guibin Owens, David H. Zhengzhou Univ Sch Elect Engn Zhengzhou 450001 Peoples R China State Grid Henan Elect Power Res Inst Zhengzhou 450000 Peoples R China Chinese Acad Sci Inst Automat Beijing 100190 Peoples R China Univ Sheffield Dept Automat Control & Syst Engn Sheffield S Yorkshire England

Fabricated by high elastic materials, soft actuators provide a prominent solution for soft rehabilitation gloves, soft graspers and locomotion robots. However, the control of soft actuators is a grant challenge due to dynamic modeling error and unavailable system states. This paper proposes an observer-based continuous adaptive sliding mode controller for soft actuators in the presence of system uncertainties without knowledge of its upper bound in prior. By exploiting a novel nonsingular fast terminal sliding mode (NFTSM) surface and a high-order sliding mode (HOSM) observer, the proposed control scheme features adaptive-tuning gains, continuity, singularity-free, stronger robustness and higher tracking accuracy. The stability of the proposed controller is analyzed by the Lyapunov method. Corresponding comparative simulations and experiments of a soft pneumatic network actuator verify the effectiveness and related features of the proposed controller.

关键词： Adaptive robust control Soft actuator Nonsingular fast terminal sliding mode surface super-twisting algorithm High-order sliding mode observer Pneumatic network actuator

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super-twisting sliding-mode traction control of vehicles with tractive force observer

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CONTROL ENGINEERING PRACTICE 2015年 38卷 26-36页

作者： Kuntanapreeda, Suwat King Mongkuts Univ Technol North Bangkok Fac Engn Dept Mech & Aerosp Engn Bangkok 10800 Thailand

This paper utilizes the super-twisting algorithm (STA) to obtain a traction controller for road vehicles. The control objective is to operate the vehicles such that a desired wheel slip ratio is achieved. The controller comprises a STA-based sliding-mode control law and a nonlinearity observer. Simulation and experimental studies illustrate the success of the controller. The controller successfully drove the vehicle to operate at the desired wheel slip ratio and efficiently handled the sudden changes of tire-road frictions. The results are compared to those obtained with a conventional sliding-mode controller. It is shown that the STA-based controller yields better control performance. (C) 2015 Elsevier Ltd. All rights reserved.

关键词： super-twisting algorithm High-order sliding-mode control Traction control Road vehicles Nonlinearity observers

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