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Fractional-Order super-twisting Sliding-Mode Procedure Design for a Class of Fractional-Order Nonlinear Dynamic Underwater Robots

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Journal of Marine Science and Application 2020年第1期19卷 64-71页

作者： Farideh Shahbazi Mahmood Mahmoodi Reza Ghasemi Department of Mathematics University of QomQom ***Iran Department of Engineering University of QomQom ***Iran

The purpose of this study is to design a fractional-order super-twisting sliding-mode controller for a class of nonlinear fractionalorder *** proposed method has the following advantages:(1)Lyapunov stability of the overall closed-loop system,(2)output tracking error’s convergence to zero,(3)robustness against external uncertainties and disturbances,and(4)reduction of the chattering *** investigate the performance of the method,the proposed controller is applied to an autonomous underwater robot and Lorenz chaotic ***,a simulation is performed to verify the potential of the proposed method.

关键词： Underwater robot Fractional-order system Sliding-mode control super-twisting algorithm Lyapunov function

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super-twisting resonant controller-based inverter nonlinearity compensation for permanent magnet synchronous motor drive system

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CONTROL ENGINEERING PRACTICE 2023年第1期140卷

作者： Yang, Tian Deng, Yongting Li, Hongwen Wang, Jianli Chinese Acad Sci Changchun Inst Opt Fine Mech & Phys Changchun 130033 Peoples R China Univ Chinese Acad Sci Beijing 100049 Peoples R China

In this paper, a novel super-twisting resonant controller with a fixed-time adaptive law (FTAL-STRC) is proposed to improve robustness and current smoothness of permanent magnet synchronous motor (PMSM). Firstly, the STRC controller is proposed, which incorporates the benefits of both the super-twisting controller (STC) and the quasi-resonant controller (QRC). Compared to the universal proportional integral resonant (PIR) control method, the proposed STRC can decrease the influence of inverter nonlinearity, and improve the robustness to parameters change, simultaneously. Secondly, an adaptive law based on fixed-time convergence theory (FTAL) is proposed to further compensate for the unknown disturbance, and realize fast tracking. Then, the composite control strategy is developed. Meanwhile, the stability of the proposed FTAL-STRC is proved rigorously. Finally, simulations and experiments are conducted to validate the effectiveness of the proposed method.

关键词： Permanent magnet synchronous motor (PMSM) Inverter nonlinearity Resonant controller super-twisting algorithm Fixed-time adaptive law (FTAL)

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Robust exact differentiators with predefined convergence time

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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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MODEL PREDICTIVE super-twisting SLIDING MODE CONTROL FOR AN AUTONOMOUS SURFACE VEHICLE

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POLISH MARITIME RESEARCH 2019年第3期26卷 163-171页

作者： Esfahani, Hossein Nejatbakhsh Szlapczynski, Rafal Gdansk Univ Technol Fac Ocean Engn & Ship Technol Dept Marine Mechatron G Narutowicza 11-12 PL-80233 Gdansk Poland

This paper presents a new robust Model Predictive Control (MPC) algorithm for trajectory tracking of an Autonomous Surface Vehicle (ASV) in presence of the time-varying external disturbances including winds, waves and ocean currents as well as dynamical uncertainties. For fullling the robustness property, a sliding mode control-based procedure for designing of MPC and a super-twisting term are adopted. The MPC algorithm has been known as an effective approach for the implementation simplicity and its fast dynamic response. The proposed hybrid controller has been implemented in MATLAB / Simulink environment. The results for the combined Model Predictive super-twisting Sliding Mode Control (MP-STSMC) algorithm have shown that it significantly outperforms conventional MPC algorithm in terms of the transient response, robustness and steady state response and presents an effective chattering attenuation in comparison with the super-twisting Sliding Mode Control (STSMC) algorithm.

关键词： utonomous Surface Vehicle Model Predictive Control Sliding Mode Control super-twisting algorithm Chattering Attenuation

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Trajectory-Tracking-Based Adaptive Neural Network Sliding Mode Controller for Robot Manipulators

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JOURNAL OF COMPUTING AND INFORMATION SCIENCE IN ENGINEERING 2020年第3期20卷 031009页

作者： Ren, Bin Wang, Yao Chen, Jiayu Shanghai Univ Shanghai Key Lab Intelligent Mfg & Robot Sch Mechatron Engn & Automat Shanghai 200444 Peoples R China City Univ Hong Kong Dept Architecture & Civil Engn Hong Kong 999077 Peoples R China

Unpredictable disturbances and chattering are the major challenges of the robot manipulator control. In recent years, trajectory-tracking-based controllers have been recognized by many researchers as the most promising method to understand robot dynamics with uncertainties and improve robot control. However, reliable trajectory-tracking-based controllers require high model precision and complexity. To develop an agile and straightforward method to mitigate the impact caused by uncertain disturbance and chattering, this study proposed an adaptive neural network sliding mode controller based on the super-twisting algorithm. The proposed model not only can minimize the tracking error but also improve the system robustness with a simpler structure. Moreover, the proposed controller has the following two distinctive features: (1) the weights of the radial basis function (RBF network) are designed to be adjusted in real-time and (2) the prior knowledge of the actual robot system is not required. The analytical model of the proposed controller was proved to be stable and ensured by the Lyapunov theory. To validate the proposed model, this study also conducted a comparative simulation on a two-link robot manipulator system with the conventional sliding mode controller and the model-based controller. The results suggest the proposed model improved the control accuracy and had fewer chattering.

关键词： trajectory-tracking-based controllers adaptive neural network model super-twisting algorithm robot manipulators artificial intelligence machine learning for engineering applications manufacturing automation

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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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A Novel Battery State of Charge Estimation Method Based on a super-twisting Sliding Mode Observer

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ENERGIES 2018年第5期11卷 1211-1211页

作者： Huangfu, Yigeng Xu, Jiani Zhao, Dongdong Liu, Yuntian Gao, Fei Northwestern Polytech Univ Sch Automat Xian 710072 Shaanxi Peoples R China Univ Bourgogne Franche Comte UTBM Inst FEMTO ST Energy DeptUMR CNRS 6174 F-90010 Belfort France

A novel method for Li-ion battery state of charge (SOC) estimation based on a super-twisting sliding mode observer (STSMO) is proposed in this paper. To design the STSMO, the state equation of a second-order RC equivalent circuit model (SRCECM) is derived to represent the dynamic behaviors of the Li-ion battery, and the model parameters are determined by the pulse current discharge approach. The convergence of the STSMO is proven by Lyapunov stability theory. The experiments under three different discharge profiles are conducted on the Li-ion battery. Through comparisons with a conventional sliding mode observer (CSMO) and adaptive extended Kalman filter (AEKF), the superiority of the proposed observer for SOC estimation is validated.

关键词： super-twisting algorithm sliding mode observer second-order RC equivalent circuit model Li-ion battery state of charge

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Step-by-step implicit discrete super-twisting differentiator for input-output linearizable nonlinear systems

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IFAC-PapersOnLine 2019年第16期52卷 783-788页

作者： Isaac Chairez Bioprocesses Department UPIBI Instituto Politećnico Nacional and the School of Engineering of the Tecnológico de Monterrey Campus Guadalajara

The aim of this study was to design a step-by-step numerical differentiator for a class of discretized version of a n-th chain-of-integrator system based on the application of the implicit discretization of the super-twisting algorithm (STA). The high-order differentiator reconstructed the non-measurable states of an input-output linearizable systems. The gains of the observer were calculated based on the application of a class of generalized functions. The convergence analysis showed that all the states in the linearized system achieved an invariant set with a predefined size. The existence of this invariant set depends on the uniqueness of the solution for the generalized function. A simple interpretation of a possible exact reconstruction of the non-measurable states of the implicit discretized form. The application of the implicit discretized STA served to design a class of observer for the microalgae culture system.

关键词： Sliding mode super-twisting algorithm Numerical differentiator Discrete sliding mode

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Hybrid position-admittance realization of an adaptive output super-twisting controller for a robotic scalpel

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CONTROL ENGINEERING PRACTICE 2019年 93卷 104161-000页

作者： Sanchez-Magos, Misael Perez-San Lazaro, Rafael Mireles, Caridad Ballesteros, Mariana Salgado, Ivan Chairez, Isaac Inst Politecn Nacl Ctr Innovac & Desarrollo Tecnol Comp Mexico City DF Mexico Inst Politecn Nacl Dept Bioproc Unidad Profes Interdisciplinaria Biotecnol Mexico City DF Mexico Inst Tecol Estudios Super Monterrey Escuela Ingn Campus Guadalajara Guadalajara Jalisco Mexico

This study proposes the design and implementation of a hybrid robust automatic controller based on the application of a high order sliding mode algorithm for a robotic scalpel prototype (RS). Two fully actuated arms with three degrees of freedom constitute the RS, one arm holds the sample and the second one has the scalpel to exert the cutting task. Each arm is attached to its corresponding cartesian robotic platform. The available measurements are the angular displacements, the linear displacement and the force vector describing the interaction between the scalpel and the biological sample. A hybrid position-admittance controller implements an output-based adaptive distributed super-twisting algorithm to mobilize the RS. A high order sliding mode observer estimates the unknown angular and linear velocities that were used in the hybrid controller. Once the end-effector of each arm reaches the desired cutting position, the designed controller switches to the admittance controller to avoid damaging the surrounding tissue. Numerical simulations show the advantages of the suggested controller in comparison with classical algorithms. The hybrid sliding mode admittance controller has been successfully evaluated on an self-constructed platform. The experimental results show a precise cut and efficient mobilization of the RS compared to other classical controllers such as proportional-differentiator, proportional-integral and first order sliding mode controllers.

关键词： Sliding-mode control Surgical robotics super-twisting algorithm Admittance control Hybrid controllers

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Nonsingular fast terminal control for the DFIG-based variable-speed hydro-unit

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ENERGY 2022年第PartA期244卷 122672-122672页

作者： Fu, Jianing Yu, Xiangyang Gao, Chunyang Cui, Junda Li, Youting Xian Univ Technol Xian 710054 Peoples R China State Grid Beijing Fengtai Power Supply Co Beijing 100073 Peoples R China State Grid Shaanxi Elect Power Co Xianyang Power Supply Co Xianyang 712000 Peoples R China

Pumped storage power plants (PSPPs) with variable-speed hydro-units are credible when tackling the impact caused by the introduction of renewable energy into grids. However, the units suffer from instability when the grid transients occur because the adopted doubly-fed induction generators (DFIG) have a strong coupling and nonlinearity. Conventional controllers failed to handle this situation. Although the sliding mode controller (SMC) is robust enough, it has problems of infinite convergence time and chattering issues. Nonsingular fast terminal sliding mode controller (NFTSMC) an advanced SMC is a promising method to solve these problems. This paper took the DFIG-based variable-speed hydro-unit as the studied object and adopted a newly-designed NFTSMC in the rotor side converter to secure the stable operation of the unit. Especially, a feedback control law and a modified coefficient of the sliding mode surface were combined with the adaptive super-twisting algorithm to handle the additional information of the derivatives of the sliding mode surface and guarantee the theoretical stability. Simulations under load rejection, parameter variation, voltage dips were imposed on the unit. Results showed the proposed controller has lower settling times, oscillations, and less over-shooting. The effi-ciency of the proposed controller is thus proved. (c) 2021 Elsevier Ltd. All rights reserved.

关键词： DFIG Variable speed hydro-unit Nonsingular fast terminal sliding mode control super-twisting algorithm

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