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第41届中国控制会议

作者： Xinhuang Li Zhengwei Yang Zuoyu Xie Jing Zhao Fei Xie College of Automation & Artificial Intelligence Nanjing University of Posts and Telecommunications College of Electrical Engineering and Automation Nanjing Normal University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper proposes a hierarchical sliding mode control strategy for a class of noncommensurate fractional-order systems with mismatched ***,we design a control law based on a hierarchical terminal sliding ***,based on fractional-order super-twisting algorithm,a sliding mode observer is designed to estimate the whole unknown term in control *** proposed control method does not require information of the internal system states,but deal with mismatched disturbances ***,numerical simulation results are shown to illustrate the effectiveness of the proposed method.

关键词： Hierarchical sliding mode Noncommensurate fractional-order system super-twisting algorithm Mismatched disturbance

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Distributed Finite-Time Integral Sliding-Mode Control for Multi-Agent Systems with Multiple Disturbances Based on Nonlinear Disturbance Observers

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Journal of Systems Science & Complexity 2021年第3期34卷 995-1013页

作者： YANG Yize LIU Fan YANG Hongyong LI Yuling LIU Yuanshan School of Information and Electrical Engineering Ludong UniversityYantai 264025China

This paper proposes a finite-time consensus control algorithm based on nonlinear integral sliding-mode control for second-order multi-agent systems(MASs)with mismatched and matched ***,a nonlinear finite-time disturbance observer is established to estimate the states and mismatched disturbances of the ***,a dynamic integral sliding-mode(ISM)surface is designed by employing the estimates of mismatched ***,based on the designed ISM and disturbance observer,the discontinuous or continuous campsite control protocols are respectively developed to guarantee the consensus for MASs in finite time with active anti-disturbance ***,numerical simulation results illustrate the effectiveness of the proposed consensus control algorithm.

关键词： Finite-time consensus integral sliding-mode control mismatched disturbances multiagent systems super-twisting algorithm

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super-twisting algorithm Approach to Control Tumors Growth

Super-Twisting Algorithm Approach to Control Tumors Growth

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3d International Conference on Systems and Control (ICSC)

作者： Zioui, Nadjet Tadjine, Mohamed Boucherit, Mohamed Seghir Natl Polytech Sch Dept Automat 10 Hassen Badi Algiers Algeria Natl Sch Technol Dept Elect Engn Ex DG SNVI ZI Rouiba Algiers Algeria

ISBN: (纸本)9781479902750

This work is about computing the robust control for tumors growth. This control law is developed using the super-twisting algorithm. It is based on the sliding modes approach, with appropriate choices for the control law expressions. As an improved version of the twisting algorithm, it has been introduced in order to minimize the shattering phenomenon, to allow the outputs to converge in a reasonable amount of time. It also deals with the need of some data that are hard to obtain in practice. The mathematical model of the tumor, as we refer to it as the system, is based on the phases of the cell cycle, where three compartments are considered. The control law is computed and simulated using real data. The system responded in a robust way regarding the modeling and the measurements errors, and the cells concentrations decreased considerably, according to the simulations results.

关键词： Tumors control Compartments model Robustness super-twisting algorithm

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A Fractional Order Sliding-mode Controller with Predefined Tracking Time for Trajectory Tracking Control in Motor Servo Systems 41

A Fractional Order Sliding-mode Controller with Predefined T...

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第41届中国控制会议

作者： Tai Kong Zesheng Lin Guoyang Cheng College of Electrical Engineering and Automation Fuzhou University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,a fractional order sliding-mode controller with predefined tracking time is proposed for servo motor to achieve trajectory *** proposed controller enables the angular position of servo motor to track a given trajectory at a tracking time t_f in spite of disturbances/uncertainties,and the tracking time can be set in *** proposed controller is composed of two parts:the first one,named nominal control,is based on optimal control theory to assure the states of disturbances free system converge to zero at the predefined *** second part,named robust control,is based on the super-twisting control algorithm（STA） modified with the fractional-order integration,allowing the integral of the discontinuous function to assume a fractional order to compensate the disturbances which are not necessarily integer-order differentiable,such as those generated from dynamic friction,input noise and mechanical *** effectiveness of the proposed controller is demonstrated on a DC servo system via simulation and experiments.

关键词： Trajectory tracking super-twisting algorithm Fractional order Sliding-mode control

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A Novel Non-linear Adaptive Observer for PMSM Drives 3

A Novel Non-linear Adaptive Observer for PMSM Drives

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3rd IEEE International Power and Renewable Energy Conference (IPRECON)

作者： Sarate, Poonam P. Jadhav, Sadhana V. Coll Engn Dept Elect Engn Pune Maharashtra India

ISBN: (纸本)9781665491754

Permanent Magnet Synchronous Motor (PMSM) is a popularly used electric drive in industries. Now a days PMSM is preferred over induction motor due to its simple structure, higher power density, higher efficiency, and higher torque to inertia ratio. In order to have an accurate and dynamic control of PMSM, rotor position must be sensed using an encoder or a resolver. However, using sensors increases the complexity and cost of the system as the sensors are accompanied by power conditioning circuits, wires, etc. Hence, sensorless speed control of PMSM is a need of time. Modern observers, and estimators are being researched worldwide. Major estimators for PMSM are either based on back emf estimation or signal injection. These algorithms are very complicated and are sensitive to disturbances and parameter variations. Hence, a robust, Sliding Mode Observer (SMO) is most suited in this case. It has added advantage of simplicity in implementation and guaranteed stability. However, due to discontinuous feature of SMO, chattering is the major issue with it. Higher-Order Sliding Mode Observer (HOSMO) is adopted for mitigating the chattering effects of SMO. In this work, HOSMO for PMSM is designed. It is shown that the HOSMO yields a finite-time smooth estimation of the rotor angle. The stability of the HOSMO is investigated using the Lyapunov function. MATLAB / SIMULINK platform is used for simulation studies.

关键词： Permanent Magnet Synchronous Motor (PMSM) Sliding Mode Observer (SMO) Higher Order Sliding Mode Observer (HOSMO) super-twisting algorithm

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Nonsingular terminal sliding mode control for free-floating space manipulator with disturbance

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ACTA ASTRONAUTICA 2021年 181卷 396-404页

作者： Shao, Xiangyu Sun, Guanghui Xue, Cong Li, Xiaolei Harbin Inst Technol Dept Control Sci & Engn Harbin 150001 Peoples R China

This paper proposes a nonsingular terminal sliding mode controller (NTSMC) for free-floating space manipulators (FFSMs) to improve the transient performance and reduce unexpected base motion in the presence of disturbance. A compact dynamic model of FFSM system is first developed based on the barycenter and the Lagrangian mechanical equation. To improve the response speed of the system, a piecewise sliding surface is proposed to ensure the finite-time convergence of system states, which can also avoid the singularity existing in the traditional terminal sliding mode controller (TSMC). Considering that the disturbance has great influences on transient and steady-state performance of the FFSM, the super-twisting algorithm, which has a strong ability of disturbance rejection, is investigated and applied in the reaching phase of sliding variables. Compared with conventional controllers, the proposed control scheme has significant advantages in disturbance rejection, reducing overshoot, and shortening settling time. Besides, the motion of the spacecraft are dramatically reduced compared with existing works. Theoretical analyses are given to show the finite-time stability and the robustness to disturbance of the proposed controller. Simulations are conducted to verify the validity of the proposed method.

关键词： Free-floating space manipulator super-twisting algorithm Nonsingular terminal sliding mode control Finite-time convergence

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Disturbance-Observer-Based Complementary Sliding-Mode Speed Control for PMSM Drives: A super-twisting Sliding-Mode Observer-Based Approach

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IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS 2021年第5期9卷 5416-5428页

作者： Liu, Yong-Chao Laghrouche, Salah Depernet, Daniel Djerdir, Abdesslem Cirrincione, Maurizio Univ Bourgogne Franche Comte UTBM French Natl Ctr Sci Res CNRSFEMTO ST InstUMR 6174Energy Dept F-90010 Belfort France Univ South Pacific Sch Phys & Engn Suva Fiji

This article proposes a novel disturbance-observer-based complementary sliding-mode (DO-CSM) speed controller for the field-oriented controlled permanent-magnet synchronous motor (FOC-PMSM) drive system. At first, the rotor speed dynamics of the PMSM drive system considering the lumped disturbance, which consists of external disturbances, parametric uncertainties, and unmodeled dynamics, is presented. Then, the classic CSM speed controller and a typical artificial neural network (ANN)-based CSM speed controller, i.e., the Elman NN (ENN)-based intelligent CSM (ENN-ICSM) speed controller for the FOC-PMSM drive system, are reviewed. Afterward, the design of the proposed DO-CSM speed controller, which combines the signum-function-based CSM controller with the super-twisting sliding-mode observer (STSMO), is presented. In such a speed controller, the rotor speed tracking control is accomplished by the adopted CSM controller, whereas the STSMO is employed to estimate and compensate for the lumped disturbance in the rotor speed dynamics. Finally, experimental comparisons among the proposed DO-CSM speed controller, the classic CSM speed controller, and three selected ENN-ICSM speed controllers are carried out. Experimental results verify the effectiveness and superiority of the proposed DO-CSM speed controller.

关键词： Rotors Torque Stators Velocity control Artificial neural networks Power electronics Synchronous motors Artificial neural network (ANN) complementary sliding-mode (CSM) control disturbance observer (DO) permanent-magnet synchronous motor (PMSM) sliding-mode observer super-twisting algorithm

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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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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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A Finite Time Tracking Control for Manipulators Using New Adaptive Fast Terminal Sliding Mode Surface 13

A Finite Time Tracking Control for Manipulators Using New Ad...

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13th Asian Control Conference (ASCC)

作者： Hoang, Quoc Hung Ahn, Kyoung Kwan Univ Ulsan Sch Mech Engn Ulsan South Korea

ISBN: (纸本)9788993215236

This paper presents a finite-time control scheme that is introduced via a new adaptive fast terminal sliding mode control method for 3-DOF robot manipulators that eliminates uncertainties effect on the robot and improves the convergence rate. In addition, a super-twisting algorithm is applied to mitigate chattering in the output robot trajectory and control signal of the controller. The result of the proposed control algorithm ensures finite-time stability and fast convergence, which is confirmed with the Lyapunov principle. Finally, the effectiveness of the proposed controller is verified with simulations.

关键词： Adaptive Fast Terminal Sliding Mode Control super-twisting algorithm Finite Time Convergence

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