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Observer-Based Sliding-Mode Control for Grid-Connected Power Converters Under Unbalanced Grid Conditions

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2022年第1期69卷 517-527页

作者： Yin, Yunfei Vazquez, Sergio Marquez, Abraham Liu, Jianxing Leon, Jose I. Wu, Ligang Franquelo, Leopoldo G. Harbin Inst Technol Control Sci & Engn Harbin 150001 Peoples R China Harbin Inst Technol Dept Control Sci & Engn Harbin 150001 Peoples R China Univ Seville Elect Engn Dept Seville 41092 Spain

This article proposes a novel robust control strategy for three-phase power converters operated under unbalanced grid conditions. A consolidated control objective is obtained in the stationary alpha beta frame, which can be flexibly adjusted according to the degree of oscillation in the active and reactive powers and the balance of the three-phase current. Based on the dynamics of the converter and control objective, a control scheme in a cascaded framework is presented, in which an adaptive observer is applied to estimate the positive and negative sequences of the grid voltage. In the current tracking loop, a super-twisting algorithm current controller coupled with a super-twisting differentiator is implemented to track the current references, featuring rapid dynamics, and improved robustness. Additionally, in the voltage regulation loop, an effective composite controller is developed to regulate the dc-link voltage, where a super-twisting observer is used to estimate the load disturbance, thereby improving the performance of the converter. The experimental results are provided to confirm the effectiveness and superiority of the proposed control strategy.

关键词： Power converter super-twisting algorithm super-twisting differentiator super-twisting observer unbalanced grid

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Adaptive sliding-mode controller of a lower limb mobile exoskeleton for active rehabilitation

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ISA TRANSACTIONS 2021年 109卷 218-228页

作者： Perez-San Lazaro, Rafael Salgado, Ivan Chairez, Isaac Inst Politecn Nacl Med Robot & Biosignal Proc Lab Unidad Profes Interdisciplinaria Biotecnol ZC Mexico City 07340 DF Mexico Inst Tecnol Estudios Super Monterrey Escuela Ingn & Ciencias Campus Guadalajara Zapopan Mexico Inst Politecn Nacl Ctr Innovac & Desarrollo Tecnol Computo ZC Mexico City 07700 DF Mexico

This study describes the design, instrumentation and control of an exoskeleton for lower limb children rehabilitation with nine degrees of freedom. Three degrees of freedom in each leg exert the movements of hip, knee and ankle in the sagittal plane, and three control the drive track system composed by a caterpillar-like robot. The control scheme presents a model free decentralized output feedback adaptive high-order sliding mode control to solve the trajectory tracking problem in each degree of freedom of the exoskeleton. A high order sliding mode differentiator estimates the unmeasured states and, by means of a dynamical state extension, it approximates the unknown dynamical model of the exoskeleton. A second-order adaptive sliding mode controller based on the super-twisting algorithm drives the exoskeleton articulations to track the proposed reference trajectories, inducing an ultimate boundedness for the tracking error. Numerical and experimental simulation results demonstrate the effect of the adaptive gain on the super-twisting control design. Such evaluations confirmed the superior tracking performance forced by the adaptive law for the controller with a smaller chattering amplitude and smaller mean tracking error. (C) 2020 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Decentralized control super-twisting algorithm Lower limb exoskeleton Adaptive control Active orthosis

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Leak Diagnosis in Branched Pipeline Systems Based on a Robust Differentiation Scheme

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IEEE ACCESS 2024年 12卷 62162-62176页

作者： Navarro-Diaz, Adrian Delgado-Aguinaga, Jorge A. Santos-Ruiz, Ildeberto Sanchez-Torres, Juan D. Tecnol Monterrey Sch Engn & Sci Zapopan 45138 Jalisco Mexico Univ Valle Mexico Ctr Invest Innovac & Desarrollo Tecnol CIIDETEC UV Tlaquepaque 45601 Jalisco Mexico Tecnol Nacl Mexico Inst Tecnol Tuxtla Gutierrez TURIX Dynam Diag & Control Grp Tuxtla Gutierrez 29050 Mexico ITESO Dept Math & Phys Tlaquepaque 45604 Mexico

The current study addresses the problem of leak detection and isolation (LDI) in a branched pipeline system. The detection process employs a mass balance approach following mass conservation principles. The leak isolation algorithm is activated upon detecting a leak, comprising a bank of m observers corresponding to the number of pipeline branches in the system. The state-space representation of the branched pipe, derived from a classical dynamic representation of a pipeline system, incorporates two variables defining the leak: its position and magnitude. The observability condition for each observer is fulfilled, ensuring the complete reconstruction of the state. To enhance robustness, a super-twisting algorithm (STA), functioning as an exact differentiator, is introduced to estimate the time derivatives of inputs and outputs. Consequently, the complete state is reconstructed using a set of algebraic equations dependent solely on inputs, outputs, and their time derivatives. The analysis considers only the flow rates and pressure head measurements at the inlets and outlets of the pipeline system. For illustrative purposes, experimental results of five leak scenarios are presented, utilizing databases generated from a test bed plant with two branchings constructed at the Tuxtla Guti & eacute;rrez Institute of Technology.

关键词： Pipelines Mathematical models Leak detection Junctions Transient analysis Pressure measurement Observers Fault diagnosis Branched pipeline fault diagnosis leak detection robust exact differentiation super-twisting algorithm

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Finite-time super twisting sliding mode controller based on higher-order sliding mode observer for real-time trajectory tracking of a quadrotor

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IET CONTROL THEORY AND APPLICATIONS 2020年第16期14卷 2359-2371页

作者： Tripathi, Vibhu Kumar Kamath, Archit Krishna Behera, Laxmidhar Verma, Nishchal K. Nahavandi, Saeid Indian Inst Technol Dept Elect Engn Kanpur 208016 Uttar Pradesh India Deakin Univ Inst Intelligent Syst Res & Innovat Geelong Vic Australia

The main focus of this study is to develop a finite-time super-twisting sliding mode control strategy for the quadrotor based on a higher-order sliding mode observer (HOSMO). 12 state variables are required to describe the motion of the quadrotor, of which six state variables, namely the position, altitude, and orientation, are assumed to be obtained from the sensors. The remaining state variables, i.e. the linear and angular velocities, are determined using the HOSMO. Besides, the HOSMO aids in determining the unknown bounded lumped disturbances acting on the quadrotor. The output of the HOSMO is utilised for implementing the finite-time super-twisting sliding mode controller (FTSTSMC). The proposed FTSTSMC ensures finite-time convergence of tracking error with chattering attenuation. The chattering analysis for a super-twisting algorithm is presented in this work. Moreover, the overall system stability is investigated using the Lyapunov theory, and an expression for the time of convergence of the tracking and estimation error is presented. The effectiveness of the proposed methodology is established using numerical simulations and its performance is compared to a finite-time sliding mode observer coupled with a combination of proportional-integral-derivative and continuous sliding-mode controller. This is then validated in real-time using the DJI Matrice 100.

关键词： position control variable structure systems control system synthesis nonlinear control systems Lyapunov methods observers stability quadrotor higher-order sliding mode observer 12 state variables remaining state variables HOSMO aids unknown bounded lumped disturbances finite-time convergence super-twisting algorithm estimation error finite-time sliding mode observer continuous sliding-mode controller time super twisting sliding mode controller real-time trajectory tracking sliding mode control strategy

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Finite time control for MIMO nonlinear system based on higher-order sliding mode

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ISA TRANSACTIONS 2014年第6期53卷 1838-1846页

作者： Liu, Xiangjie Han, Yaozhen North China Elect Power Univ State Key Lab Alternate Elect Power Syst Renewabl Beijing 102206 Peoples R China Shandong Jiaotong Univ Sch Informat Sci & Elect Engn Jinan 250023 Peoples R China

Considering a class of MIMO uncertain nonlinear system, a novel finite time stable control algorithm is proposed based on higher-order sliding mode concept. The higher-order sliding mode control problem of MIMO nonlinear system is firstly transformed into finite time stability problem of multivariable system. Then continuous control law, which can guarantee finite time stabilization of nominal integral chain system, is employed. The second-order sliding mode is used to overcome the system uncertainties. High frequency chattering phenomenon of sliding mode is greatly weakened, and the arbitrarily fast convergence is reached. The finite time stability is proved based on the quadratic form Lyapunov function. Examples concerning the triple integral chain system with uncertainty and the hovercraft trajectory tracking are simulated respectively to verify the effectiveness and the robustness of the proposed algorithm. (C) 2014 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Higher-order sliding mode MIMO nonlinear Finite time stability super-twisting algorithm

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Adaptation mechanism techniques for improving a model reference adaptive speed observer in wind energy conversion systems

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ELECTRICAL ENGINEERING 2020年第3期102卷 1621-1637页

作者： Soufyane, Benzaouia Abdelhamid, Rabhi Smail, Zouggar Univ Mohammed 1st High Sch Technol LEEM Oujda Morocco Univ Picardie Jules Verne Lab Modelisat Informat & Syst MIS 33 Rue St Leu F-80039 Amiens France

Rotational speed sensor is one of the most important components used in wind energy conversion system control strategies. The latter is very expensive and may be faulty due to the harsh environment working, causing by that a low efficiency operation of the system. The use of a speed estimator or an observer may be a good alternative solution for the use either in sensorless control or detecting the sensor failure or degradation (FDI and FTC), provided that the observer is robust and ensures high rotational speed estimation accuracy. This paper presents a comprehensive study to solve the optimization problem of a model reference adaptive speed (MRAS) observer in a typical wind energy generation system based on permanent magnet synchronous generator using five adaptation mechanisms: The first one is the classical MRAS observer;it is based on proportional-integral (PI) controller. The second one uses a fuzzy logic controller (FLC) with two inputs. The third one uses the single-input fuzzy logic controller which represents the simplification of the conventional FLC. The fourth one uses the sliding mode controller, and the last one uses the super-twisting algorithm. A detailed comparison between the five adaptation mechanisms is carried out. The obtained results show a good estimation stability as well as a fast speed estimation at dynamic regime for the improved adaptation mechanisms compared with the conventional PI controller.

关键词： Wind energy conversion systems MRAS observer Fuzzy logic controller Single-input fuzzy logic controller Sliding mode controller super-twisting algorithm

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Event-triggered output feedback sliding mode control of mechanical systems

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NONLINEAR DYNAMICS 2022年第4期107卷 3543-3555页

作者： Yan, Yan Wang, Rui Yu, Shuanghe Wang, Chaoli Li, Tieshan Dalian Maritime Univ Coll Marine Elect Engn Dalian 116026 Peoples R China Univ Shanghai Sci & Technol Dept Control Sci & Engn Shanghai 200093 Peoples R China Univ Elect Sci & Technol China Sch Automat Engn Chengdu 611731 Peoples R China

This paper is concerned with event-triggered sliding mode control (SMC) for uncertain mechanical systems subject to limited communication capacity. We consider the scenario where samplings of the system output and of the control input are generated by two different event-triggered strategies. An event-triggered mechanism is incorporated in the sensor to decide when the position information is transmitted from the sensor to observer. The super-twisting algorithm (STA)-based observer is developed to recover the unmeasured velocities by using event-triggered sampling of the position information. Besides, an SMC law is proposed and an input event-triggered mechanism is introduced to decide when the control signal is transmitted over the network to the actuator side. The stability for the overall closed-loop system is analyzed. It is proved that under the proposed output and input event-triggered strategies, there is no Zeno behavior exhibited. Examples are finally presented to illustrate the effectiveness of the proposed event-triggered STA-based observer and the event-triggered SMC scheme.

关键词： Event-triggered sampling Sliding mode control super-twisting algorithm Observation accuracy

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The Load Frequency Control by Adaptive High Order Sliding Mode Control Strategy

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IEEE ACCESS 2022年 10卷 25392-25399页

作者： Guo, Jianping Univ Elect Sci & Technol China Zhongshan Inst Sch Mech & Elect Engn Zhongshan 528406 Peoples R China

Sliding mode control (SMC) has the attractiveness of robustness to the system model uncertainties and disturbance, which has wide applications in power system, power electronics, and vehicle suspension system. However, it also has a drawback of chattering. To decrease the chattering phenomenon, this study develops a novel adaptive high-order sliding mode control (HOSMC), which has the benefit of parameterizable unmodeled dynamics compared with the HOSMC method. The proposed method can be employed for load frequency control with nonlinearities. The simulations are based on two and three areas of the power system with load frequency control. From the simulation results, it is apparent that the frequency deviation and ACE (area control error) converge to zero when using the proposed method. In addition, the simulation results validate the robustness of the proposed method in the case of parameters change. The oscillation and chattering can be attenuated more by the raised adaptive HOSMC compared to the super-twisting (ST) algorithm, which verifies the advantages of the proposed adaptive HOSMC scheme.

关键词： Frequency control Control systems Sliding mode control Load modeling Uncertainty Switches Robustness Adaptive high-order sliding mode control super-twisting algorithm nonlinearities frequency deviation ACE

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Finite-time sliding mode tracking control for active suspension systems via extended super-twisting observer

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 2017年第6期231卷 459-470页

作者： Wang, Gang Chen, Changzheng Yu, Shenbo Guizhou Inst Technol Sch Mech Engn Guizhou 550003 Peoples R China Shenyang Univ Technol Sch Mech Engn Shenyang Peoples R China

In this article, a novel sliding mode tracking control scheme for vehicle active suspension systems with matched and mismatched uncertainties is proposed based on super-twisting concept. In order to stabilize suspension deflection motion to the desired trajectory in finite time, a finite-time sliding mode controller is designed. Specifically, a novel trajectory function is proposed to adjust the suspension performances (e.g. ride comfort, tire dynamic load and suspension deflection). Compared with the first-order sliding mode control method, the proposed tracking control scheme can effectively improve the ride comfort and ensure the suspension deflection constraint. The control scheme requires only the suspension deflection and acceleration feedback and thus is easy to implement. The uncertainties of the active suspension system are considered as a total disturbance term which can be estimated online, and the estimated error can become a vanishing term in finite time using an extended super-twisting disturbance observer. Finally, the proposed control algorithm is applied to a quarter-car active suspension model, and numerical and experimental results are provided to show the merits and effectiveness of the proposed control scheme.

关键词： Finite-time control active suspension systems sliding mode control super-twisting algorithm disturbance observer

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Robust nonlinear sliding mode controllers for single-phase inverter interfaced distributed energy resources based on super twisting algorithms

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ISA TRANSACTIONS 2022年 123卷 61-75页

作者： Barzegar-Kalashani, Mostafa Tousi, Behrouz Mahmud, Md. Apel Farhadi-Kangarlu, Mohammad Urmia Univ Fac Elect & Comp Engn Orumiyeh Iran Deakin Univ Sch Engn Elect Power & Energy Syst Res Lab EPESRL Waurn Ponds Vic 3216 Australia

This paper presents a voltage control mode (VCM)-based super-twisting algorithm-sliding mode controller (STA-SMC) and current control mode (CCM)-based STA-SMC for islanded and grid-connected operations of single-phase inverters interfaced with distributed energy resources (DERs), respectively. The external disturbances are modeled by considering the effects of load currents or load voltages depending on operational modes whiles parametric uncertainties are modeled based on their variations from nominal values. Therefore, the proposed controllers are robust against external disturbances, parametric uncertainties, and variations in loading conditions. Simulation studies are conducted in the MATLAB/Simulink platform for both single and multiple DERs which are interfaced through single -phase inverters to the main grid or loads. The results are also analyzed through comparative studies with different controllers and it is found that the proposed controllers perform better than existing controllers. (c) 2021 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Nonlinear control Power quality Harmonic suppression Voltage/current control super-twisting algorithm

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