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Enhanced backstepping control for an unconventional quadrotor under external disturbances

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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Disturbance Observer-Based Active Damping Control for Electrolytic Capacitor-Less PMSM Drives

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2024年第12期71卷 15383-15392页

作者： Ding, Wen Huo, Lujie Chen, Shuo Xi An Jiao Tong Univ Sch Elect Engn Xian 710049 Peoples R China

The electrolytic capacitor-less permanent magnet synchronous motor (PMSM) drives have the advantages of high-power density, low cost, and long service life. However, the interaction between the LC resonance and the negative impedance characteristic of PMSM may lead to an instability issue in the drive system. The harmonic contents near the resonant frequency in the grid-side current also increase significantly. The above issues are detrimental to achieving a high input power factor and stable control of the drive system. In this article, the impedance model of the drive system is established first to analyze the stability of the system. Secondly, a novel active damping control method is proposed to improve the stability of drive system and suppress the harmonics of grid-side current. The active damping control method in electrolytic capacitor-less system requires the information of grid-side current or rectifier output current, which is usually achieved by adding a current sensor. In contrast, a super-twisting sliding mode-based disturbance observer is designed to estimate the rectifier output current, thereby further reducing the hardware cost. The effectiveness of the proposed method is verified by experimental results.

关键词： Active damping control disturbance observer electrolytic capacitor-less permanent magnet synchronous motor (PMSM) super-twisting algorithm

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Global finite-time stabilization of planar nonlinear systems with disturbance

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ASIAN JOURNAL OF CONTROL 2012年第3期14卷 851-858页

作者： Li, Peng Zheng, Zhiqiang Natl Univ Def Technol Dept Automat Control Coll Mechatron Engn & Automat Changsha 410073 Hunan Peoples R China

This paper proposes a continuous global finite-time controller for a class of planar systems with disturbance. The proposed controller consists of nominal and compensated parts. The nominal part, designed by an homogeneity-based technique, takes care only of the nominal system. The closed-loop nominal system is asymptotically stable and satisfies negative homogeneity of degree. However, using a finite-time convergent second order sliding mode super-twisting algorithm, the compensated part enables cancelling of the disturbance which is time-varying or unbounded as long as its derivative is bounded. The combination of the nominal and compensated parts makes the planar system globally finite-time stable. Simulation results show the effectiveness of the proposed method. Copyright (C) 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society

关键词： Planar nonlinear systems homogeneity finite-time stabiliza-tion super-twisting algorithm

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Second Order Sliding Mode Control of DC-DC Converter used in the Photovoltaic System According an Adaptive MPPT

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INTERNATIONAL JOURNAL OF RENEWABLE ENERGY RESEARCH 2016年第2期6卷 375-383页

作者： Sahraoui, Hamza Chrifi-Alaoui, Larbi Drid, Said Bussy, Pascal Univ Batna2 Dept Elect Engn LSPIE Lab Rue Chahid Med El Hadi Boukhlof Batna 05000 Algeria Univ Picardie Jules Verne IUT Aisne LTI F-02880 Cuffies France

This paper deals with the development of an adaptive maximum power point tracking (MPPT) for Photovoltaic systems, whatever the type of the used converters (Buck, Boost, Buck-Boost). The main goal of the proposed work is to track the maximum power point (MPP) using adaptive algorithm (MPOA). This algorithm generates the output voltage reference Vref which must track the output voltage to reach the Maximum Power Point by modifying duty cycle of the DC-DC converter. In order to do that, second order sliding mode control is used. Furthermore, the use of the second order sliding mode control (SOSMC) can reduce the chattering phenomenon and ensure high transient response for a wide range of desired current or voltage under parameter variations. The proposed control is tested under different operating conditions. All results confirm the effectiveness of our proposed algorithm.

关键词： Second order sliding mode control super-twisting algorithm DC-DC Converter adaptive MPPT photovoltaic systems

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Continuous Higher-Order Sliding Mode Control for a Class of n-th Order Perturbed Systems

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS 2022年第7期69卷 3179-3183页

作者： Li, Jianxiong Liu, Xinjian Xu, Miao Fang, Yiming Yanshan Univ Dept Automat Sch Elect Engn West Campus Qinhuangdao 066004 Peoples R China Yanshan Univ Res Ctr Minist Educ Intelligent Control Syst & Intelligen Qinhuangdao 066104 Hebei Peoples R China Yanshan Univ Key Lab Ind Comp Control Engn Hebei Prov Qinhuangdao 066104 Hebei Peoples R China

In this brief, a general continuous higher-order sliding mode (HOSM) control algorithm is proposed for a class of n-order systems with Lipschitz disturbance, which can be regarded as a generalization of the continuous super-twisting algorithm for arbitrary relative degree with respect to the output. The proposed control algorithm only requires the information of the output and its derivatives up to the order n - 1, and can compensate the Lipschitz disturbance exactly by using a discontinuous integral term, generating a continuous homogeneous control signal and achieving finite-time convergence to a sliding mode of order n + 1. The convergence of the closed-loop system is proved rigorously by employing an explicit and directly constructed homogeneous Lyapunov function. The simulation results validate the effectiveness of the proposed method by comparing with the existing results.

关键词： Higher-order sliding mode super-twisting algorithm finite-time arbitrary order sliding mode homogeneous Lyapunov function

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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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Power Quality Improvement Through Backstepping super-twisting Control of a DFIG-Based Dual Rotor Wind Turbine System Under Grid Voltage Drop

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ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING 2024年第5期49卷 7145-7162页

作者： Yahdou, Adil Djilali, Abdelkadir Belhadj Bounadja, Elhadj Boudjema, Zinelaabidine Hassiba Benbouali Univ Chlef Fac Technol Dept Elect Engn Lab Genie Elect & Energies Renouvelables LGEER Chlef Algeria

The stator field-oriented control (SFOC) strategy, utilizing classical proportional-integral (PI) regulators for the doubly fed induction generator (DFIG) within a dual rotor wind turbine (DRWT) system, encounters several significant challenges. These challenges encompass undesirable fluctuations in stator active and reactive powers, the occurrence of a coupling effect in specific scenarios, and a lack of robustness. Moreover, the conventional SFOC demonstrates suboptimal performance in the presence of grid voltage drop scenarios. To address these issues, this study proposes the application of a backstepping super-twisting control (BSTC) strategy. The design of the controller involves integrating a super-twisting algorithm (STA) term into the control law of the classical backstepping control (BC) approach. The MATLAB simulation tests conducted on a 1500 KW DFIG-based DRWT system illustrate the clear superiority of the proposed BSTC over conventional SFOC, BC, and some previously published control methods. In the reference tracking test, the results indicate a significant reduction in the total harmonic distortion (THD) value of the stator current by 57.14% compared to SFOC and by 33.33% compared to BC. Additionally, the BSTC technique, in the same test, also reduces the steady-state error (SSE) for active power by 60% and 28.57% compared to SFOC and BC, respectively. Concerning reactive power, the proposed BSTC strategy decreases SSE by percentages estimated at 56.25% and 12.5%, respectively, compared to SFOC and BC. The computed percentages illustrate the substantial superiority of the suggested controller in enhancing power system characteristics and elevating the quality of energy.

关键词： Stator field oriented control Dual rotor wind turbine super-twisting algorithm Backstepping control Grid voltage drop scenarios DFIG

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Finite-time parametric identification for the model representing the metabolic and genetic regulatory effects of sequential aerobic respiration and anaerobic fermentation processes in Escherichia coli

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MATHEMATICAL MEDICINE AND BIOLOGY-A JOURNAL OF THE IMA 2018年第3期35卷 299-317页

作者： Sepulveda-Galvez, Alfonso Agustin Badillo-Corona, Jesus Chairez, Isaac Inst Politecn Nacl UPIBI SEPI Mexico City 07340 DF Mexico Inst Politecn Nacl Dept Bioproc Mexico City 07340 DF Mexico

Mathematical modelling applied to biological systems allows for the inferring of changes in the dynamic behaviour of organisms associated with variations in the environment. Models based on ordinary differential equations are most commonly used because of their ability to describe the mechanisms of biological systems such as transcription. The disadvantage of using this approach is that there is a large number of parameters involved and that it is difficult to obtain them experimentally. This study presents an algorithm to obtain a finite-time parameter characterization of the model used to describe changes in the metabolic behaviour of Escherichia coli associated with environmental changes. In this scheme, super-twisting algorithm was proposed to recover the derivative of all the proteins and mRNA of E. coli associated to changes in the concentration of oxygen available in the growth media. The 75 identified parameters in this study maintain the biological coherence of the system and they were estimated with no more than 20% error with respect to the real ones included in the proposed model.

关键词： Escherichia coli parametric identification super-twisting algorithm finite time genetic networks

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super-twisting Sliding Control Design of Three-Phase Inverter for Stand-Alone Distributed Generation Systems

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JOURNAL OF CONTROL AUTOMATION AND ELECTRICAL SYSTEMS 2016年第2期27卷 179-188页

作者： Dinh Hieu Phan Huang, Shoudao Hunan Univ Coll Elect & Informat Engn Changsha 410082 Hunan Peoples R China Hanoi Univ Ind Fac Mech Engn Hanoi Vietnam

This paper presents a super-twisting algorithm control strategy for a three-phase voltage source inverter of a distributed generation system in the stand-alone operation mode to guarantee good performance of the load output voltage under a sudden load, unbalanced load, and nonlinear load. The proposed control is established for an inner-loop current controller and an outer-loop voltage controller in a dual-control scheme. The proposed controller is very simple and robust to the parameter uncertainties. The stability and robustness of the proposed controller are proven based on the Lyapunov theory. The simulation results are illustrated by MATLAB/Simulink software and are compared to the performance of the traditional sliding controller to validate the effectiveness of the proposed controller.

关键词： super-twisting algorithm Distributed generation systems Inner-loop current controller Outer-loop voltage controller Parameter uncertainties Total harmonic distortion

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