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Robust exact differentiators with predefined convergence time

AUTOMATICA 2021年 134卷 109858-109858页

作者： Seeber, Richard Haimovich, Hernan Horn, Martin Fridman, Leonid M. De Battista, Hernan Graz Univ Technol Inst Automat & Control Christian Doppler Lab Model Based Control Complex Graz Austria CONICET UNR Ctr Int Francoargentino Ciencias Informac & Siste RA-2000 Rosario Argentina Natl Autonomous Univ Mexico UNAM Engn Fac Ciudad Univ Mexico City DF Mexico UNLP CONICET Inst LEICI Grp Control Aplicado GCA La Plata Argentina

The problem of exactly differentiating a signal with bounded second derivative is considered. A class of differentiators is proposed, which converge to the derivative of such a signal within a fixed, i.e., a finite and uniformly bounded convergence time. A tuning procedure is derived that allows to assign an arbitrary, predefined upper bound for this convergence time. It is furthermore shown that this bound can be made arbitrarily tight by appropriate tuning. The usefulness of the procedure is demonstrated by applying it to the well-known uniform robust exact differentiator, which is included in the considered class of differentiators as a special case. (C) 2021 The Author(s). Published by Elsevier Ltd.

关键词： Sliding modes super-twisting algorithm Finite-time convergence Fixed-time convergence Disturbance rejection

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Chattering-free adaptive sliding-mode control of nonlinear systems with unknown disturbances

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COMPUTERS & ELECTRICAL ENGINEERING 2021年第PartA期96卷 107538-107538页

作者： Shao, Ke Zheng, Jinchuan Yang, Chao Xu, Feng Wang, Xueqian Li, Xiu Tsinghua Univ Ctr Intelligent Control & Telesci Tsinghua Shenzhen Int Grad Sch Shenzhen 518055 Peoples R China Swinburne Univ Technol Sch Software & Elect Engn Hawthorn Vic 3122 Australia 111 Ctr Intelligent Batch Mfg Based IoT Technol Guangzhou 510006 Peoples R China Minist Educ Key Lab Intelligent Detect & Internet Things Mfg Guangzhou 510006 Peoples R China

Chattering occurs in many sliding-mode control systems and consequently constrains their ap-plications in practice. Though filtering technique has been proposed to suppress the chattering, it comes with the limitation that the information such as the upper bound and/or lower bound of the disturbances/uncertainties must be known a priori. In reality, this information may not be acquirable and thus the control system has to presume a sufficiently large upper bound of the unknown disturbances, which often results in unnecessarily large control gains that reversely amplify the measurement noise and deteriorate the control performance. To overcome this limitation, this paper proposes an adaptive sliding-mode control scheme that incorporates super-twisting algorithm, low-pass filter, and a leakage-type adaptive law to achieve the benefits of free chattering as well as removal of the need for any disturbance information. Lyapunov analysis and simulation results are presented to demonstrate the superiority of the proposed method.

关键词： Adaptive sliding-mode control Chattering Leakage-type adaptive law super-twisting algorithm

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Motion Control in Resonant Frequency for an Electrified Implement 20

Motion Control in Resonant Frequency for an Electrified Impl...

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20th IEEE Mediterranean Eletrotechnical Conference (IEEE MELECON)

作者： Stasewitsch, Ilja Pussack, Michaela Schattenberg, Jan Frerichs, Ludger Tech Univ Carolo Wilhelmina Braunschweig Inst Mobile Machines & Commercial Vehicles Braunschweig Germany

ISBN: (纸本)9781728152004

The electrification is one of the main focuses in the research and development of new mobile machines. But not only the drive train will be electrified but also the implements and attached equipment. This leads to new designs of these implements, which may require new control strategies. The electrified sickle-bar mower for cutting grass with mobile machines is shown here as an example. The aim is to control the amplitude of the sickle-bar's position, which is important for a good process quality, but energy efficiency is also important for long operating times. The developed control strategies are able to control the desired position amplitude and the approaches have strategies to be energy efficient. One control strategy is based on the super twisting algorithm and the other controls the amplitude of a sinusoidal motion.

关键词： Sine Amplitude Control Resonant Frequency super-twisting algorithm Online Parameter Optimization Electrified implement Motion Control

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Actuator Fault Reconstruction for PEM Fuel Cell Air-Feed System Using Adaptive Sliding Mode Observer

Actuator Fault Reconstruction for PEM Fuel Cell Air-Feed Sys...

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Chinese Automation Congress (CAC)

作者： Zhu, Jing Zhao, Jingxin Jiang, Bin Nanjing Univ Aeronaut & Astronaut Coll Automat Engn Nanjing Peoples R China

ISBN: (纸本)9781728176871

In this paper, the actuator fault reconstruction problem of PEMFC systems is of concern. Drawn upon the robust second-order sliding mode observer, the improved super-twisting (ST) sliding mode algorithm is put forward in terms of adaptive estimation laws on the uncertain parameters. The proposed fault reconstruction method is of high accurancy, fast response and strong robustness to uncertainties, which poses fundamental basis on the fault-tolerant control. Experimental simulations demonstrate the effectiveness of our results.

关键词： Sliding mode observer fault reconstruction PEM fuel cell super-twisting algorithm fault tolerant control

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Power and motion control of a floating wind turbine: an original solution based on adaptive second order sliding mode control 21st

Power and motion control of a floating wind turbine: an orig...

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21st IFAC World Congress on Automatic Control - Meeting Societal Challenges

作者： Zhang, C. Plestan, F. Ecole Cent Nantes CNRS UMR 6004 LS2N Nantes France

A new control scheme based on adaptive super-twisting algorithm is proposed for a floating wind turbine equipped by a permanent magnet synchronous generator. The adaptive control method is especially efficient for systems with uncertainties and external perturbations and, therefore, is well adapted to wind turbines systems. Such controller can be implemented with very limited knowledge of system model (only the relative degree is required) that greatly reduces the controller gains tuning effort. Simulations are made on FAST software and compared with a standard gain-scheduled PI controller. Copyright (C) 2020 The Authors.

关键词： super-twisting algorithm adaptive gain floating wind turbine

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Observer-based Adaptive Sliding Mode Tracking Control for Soft Bending Actuators

Observer-based Adaptive Sliding Mode Tracking Control for So...

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Chinese Automation Congress (CAC)

作者： Cao, Guizhou Xie, ChenLu Liu, Yanhong Zhengzhou Univ Sch Elect Engn Zhengzhou Peoples R China Zhongyuan Univ Technol Sch Elect & Informat Engn Zhengzhou Peoples R China

ISBN: (纸本)9781728176871

This paper investigates the challenging problem of finite-time position tracking control problem for the soft bending actuators without angular velocity measurements, in presence of unknown model uncertainties and external disturbance. To improve the performance of system and simplicity of controller, this paper utilizes an accelerated super-twisting algorithm (STA) to construct a gain-adaption observer and a controller simultaneously. By the observer, the condition on the derivative of uncertainties is relaxed, and the adaptive law leads to attenuate the observer gains overestimation. Next, an observer-based adaptive STA control strategy is designed to attenuate chattering phenomenon and be robust for the system uncertainties. The finite-time convergence of the proposed control strategy is proved by the Lyapunov method. Under the proposed controller, the tracking errors and estimation errors all tend to zero in finite time in the presence of external disturbance, and all the signals and states are bounded. Simulation results verify the proposed controller.

关键词： robust adaptive control dynamic model soft bending actuator super-twisting algorithm

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Coordinated AFS and DYC for autonomous vehicle steerability and stability enhancement 21st

Coordinated AFS and DYC for autonomous vehicle steerability ...

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21st IFAC World Congress on Automatic Control - Meeting Societal Challenges

作者： Khelladi, Faiza Orjuela, Rodolfo Basset, Michel Inst Rech Informat Math Automat & Signal IRIMAS E 12 Rue Frires Lumiere F-68093 Mulhouse France

In this paper, the hierarchical yaw stability control architecture is introduced. This approach coordinates two controllers, namely the steerability and the stability controllers improving respectively the handling performance and the lateral stability. Thus, each controller has a control domain, a control objective, and its own active system. The coordination of these controllers is made by means of a supervisor that gives activation functions to prioritize each controller according to the detected situation whether it is critical or not. Using the same controllers, two supervisors are investigated. On one hand, the sideslip angle - sideslip rate phase plan, and the simplified yaw rate - sideslip angle phase plan on the other hand. Finally, simulation results are given to show the effectiveness of the proposed approach. Copyright (C) 2020 The Authors.

关键词： Hierarchical approach active front steering (AFS) Direct yaw control (DYC) coordinated control stability criteria super-twisting algorithm control allocation

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Virtual output estimation in a bioreactor using a generalized super-twisting algorithm

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IFAC Proceedings Volumes 2013年第31期46卷 303-308页

作者： Alejandro Vargas Alain Vande Wouwer Jaime. A. Moreno Instituto de Ingeniería Universidad Nacional Autónoma de México Querétaro Mexico Automatic Control Department Université de Mons Mons Belgium

This paper presents the application of a generalized super-twisting algorithm to estimate a critical variable needed for implementing real time optimization feedback controllers in a certain class of bioreactors. A bank of redundant super-twisting observers designed for equivalent systems under a state transformation is used. The procedure is motivated by the fed-batch cultivation of a strain of E. coli that has overflow metabolism, where a useful variable to estimate is the difference between two reaction rates. The results show the applicability of the procedure and illustrates some compromises between the accuracy and the measurement noise.

关键词： Biotechnology observers super-twisting algorithm fermentation processes parameter estimation variable-structure systems

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Adaptive super twisting Sliding Mode Control for Flying-Wing UAV

Adaptive Super Twisting Sliding Mode Control for Flying-Wing...

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第33届中国控制与决策会议

作者： Yang Zhang Mao Su Zhongtao Cheng Lei Liu Bo Wang National Key Laboratory of Science and Technology on Multispectral Information Processing School of Artificial Intelligence and AutomationHuazhong University of Science and Technology Designing Institute of Hubei Space Technology Academy

Aiming at the attitude control problem of flying-wing UAV,an adaptive super-twisting non-singular fast terminal sliding mode control law is ***-wing UAVs are pool in static stability due to the cancellation of the flat tail and vertical tail,which brings great challenges to the attitude control of flying-wing ***,the non-singular fast terminal sliding mode control method is used for *** the same time,using the improved super-twisting algorithm to attenuate the chattering,an adaptive super-twisting non-singular fast terminal sliding mode control law is designed:the finite-time convergence of the closed-loop system is proved using Lyapunov stability theory;Finally,through simulation analysis,it is proven that the adaptive super-twisting non-singular fast terminal sliding mode control law proposed in this paper has a better control *** with the traditional sliding mode method,the control is smoother and can suppress disturbance effectively and weaken chattering.

关键词： nonsingular fast terminal sliding mode fixed-wing UAV control super-twisting algorithm finite time convergence Attitude control

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super-twisting Finite Time Control for Third Order Nonlinear Systems

Super-twisting Finite Time Control for Third Order Nonlinear...

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第40届中国控制会议

作者： Xinjian Liu Jianxiong Li Zhi Li Yiming Fang Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment The Key Lab of Industrial Computer Control Engineering of Hebei Province

A novel super-twisting control method is proposed for a class of third-order systems with matched Lipschitz disturbance in this paper. The proposed method ensures finite-time convergence to the fourth-order sliding set, by using a homogeneous, continuously differentiable and strict Lyapunov function. Finally, numerical simulation results are shown to illustrate the effectiveness of the proposed method.

关键词： Third-order sliding mode super-twisting algorithm Finite time control

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