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A New Finite Time Convergence Condition for super-twisting Observer Based on Lyapunov Analysis

ASIAN JOURNAL OF CONTROL 2015年第3期17卷 1050-1060页

作者： Mu, Chaoxu Sun, Changyin Tianjin Univ Sch Elect & Automat Engn Tianjin 300072 Peoples R China Southeast Univ Sch Automat Nanjing 210096 Jiangsu Peoples R China

A new convergence condition is proposed for the super-twisting sliding mode observer in this paper, where Lyapunov stability analysis is used as the main method to get the new convergence condition. The super-twisting sliding mode observer is designed to obtain unknown system states of the second order nonlinear system with bounded uncertainties and disturbances. By involving a quadratic Lyapunov function, the Lyapunov approach is applied to the stability analysis of the super-twisting observer, from which a new convergence condition is obtained to guarantee the finite time convergence of the observer. Simulation results of a pendulum and a rigid manipulator are included to demonstrate the effectiveness of the new convergence condition.

关键词： super-twisting algorithm finite-time convergence Lyapunov analysis observer

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Second Order Sliding Mode Control for Inverted Pendulum 12

Second Order Sliding Mode Control for Inverted Pendulum

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International Multi-Conference on Systems, Signals and Devices (SSD)

作者： Jedda, Olfa Ghabi, Jalel Douik, Ali Univ Monastir Natl Engn Sch Monastir Monastir Tunisia Univ Sousse Natl Engn Sch Sousse Sousse Tunisia

ISBN: (纸本)9781479917587

This paper presents a second order sliding mode control for an inverted pendulum which is a nonlinear and unstable system. Two second order sliding mode algorithms are presented: twisting algorithm and super- twisting algorithm. They are used to ensure not only a better robustness against parametric uncertainties, modeling errors and external disturbances, by the attenuation of chattering, but also a finite time convergence of state variables. Simulations results are shown to manifest the efficiency of these approaches.

关键词： inverted pendulum second order sliding mode control twisting algorithm super-twisting algorithm

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Stabilization of PVTOL Aircraft by supertwisting algorithms

Stabilization of PVTOL Aircraft by Supertwisting Algorithms

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International Workshop on Recent Advances in Sliding Modes

作者： Popov, Alexander Andrievsky, Boris Zaitceva, Iuliia ITMO Univ St Petersburg Russia RAS Inst Problems Mech Engn St Petersburg 199178 Russia St Petersburg State Univ St Petersburg 199034 Russia

ISBN: (纸本)9781479989478

The paper is devoted to application of sliding mode control technique for stabilization of a planar vertical takeoff and landing aircraft. Lateral motion of the autonomous aircraft is considered, containing two planar coordinates of the aircraft center of gravity and one angular coordinate for aircraft attitude. To verify the theoretical statements, simulations in Matlab/Simulink environment have been carried out. The cases of varying degrees of the control channels interference, parametric perturbations, external disturbances as the sums of harmonic signals, and unmodeled dynamics have been studied by a simulation. The case of aircraft control without output signals derivatives measurement was examined. For differentiation, the super-twisting algorithms have been employed. The results obtained show a good system performance.

关键词： sliding mode PVTOL aircraft super-twisting algorithm unmodeled dynamics

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Sliding Mode Observers for T-S Fuzzy Systems with Application to Sensor Fault Estimation 3

Sliding Mode Observers for T-S Fuzzy Systems with Applicatio...

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INTERNATIONAL CONFERENCE ON CONTROL ENGINEERING & INFORMATION TECHNOLOGY (CEIT)

作者： Haouari, F. A. Djemai, M. Cherki, B. Tlemcen Univ LAT Dept Elect Engn & Elect Tilimsen Algeria Univ Lille Nord CNRS UMR 8201 F-59313 Valenciennes France LAMIH UVHC F-59313 Valenciennes France

ISBN: (纸本)9781479982134

In this paper, we consider the sensor fault detection and isolation problem for the nonlinear dynamic systems that can be represented in the form of Takagi-Sugeno (T-S) fuzzy models. We propose an extension of the step-by-step high order sliding mode observers to T-S fuzzy models. The finite time estimation of sensor faults is obtained using the super-twisting algorithm. The proposed algorithm is tested on an hydraulic system affected by sensor faults.

关键词： Takagi-Sugeno (T-S) fuzzy model Fault detection and isolation Fault estimation Step-by-step sliding mode observer super-twisting algorithm

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Multivariable super-twisting sliding mode approach for attitude tracking of spacecraft 34

Multivariable super-twisting sliding mode approach for attit...

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34th Chinese Control Conference, CCC 2015

作者： Xuehui, Li Shenmin, Song Yong, Guo Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China

ISBN: (纸本)9789881563897

In this paper, a continuous finite-time tracking control algorithm for spacecraft in the presence of external disturbances is presented. The control law is based on a recently developed multivariable super-twisting sliding mode (MSTSM) approach. A strong Lyapunov function is used to guarantee the finite-time closed-loop stability. One of the main features of the proposed controller is that it is continuous and chattering free. Numerical simulations are given to demonstrate the performance of the developed control scheme. © 2015 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Attitude control Finite-time stability Quaternion super-twisting algorithm

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A Continuous Second-Order Sliding Mode Guidance against Highly Maneuverable Targets

A Continuous Second-Order Sliding Mode Guidance against High...

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The Society of Instrument and Control Engineers Annual Conference 2015

作者： WANG Yongkun LIU Zhongxin SUN Mingwei CHEN Zengqiang Department of Automation Nankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University

ISBN: (纸本)9784907764487

Conventional proportional navigation or augmented proportional navigation guidance laws are widely used for intercepting maneuverable targets;however, they are effective only in intercepting a target with a constant velocity or a known acceleration. In this paper, a continuous second-order sliding mode guidance law is designed to intercept a highly maneuverable target in connection with the super-twisting algorithm. Meanwhile, the target maneuver information, regarded as unpredictable disturbance, is coped with by an extended state observer(ESO) and then is compensated in the guidance law. In the proposed guidance scheme, no information about target motion is needed. The closed-loop error can be guaranteed to be bounded by using Lyapunov method. The simulation results demonstrate the effectiveness and robustness of the proposed guidance method against a highly maneuverable target.

关键词： guidance law second-order sliding mode super-twisting algorithm extended state observer target maneuver

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Second Order Sliding Mode Control for Inverted Pendulum

Second Order Sliding Mode Control for Inverted Pendulum

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International Multi-Conference on Systems, Signals and Devices

作者： Olfa JEDDA Jalel GHABI Ali DOUIK National Engineering School of Monastir - University of Monastir National Engineering School of Sousse - University of Sousse

ISBN: (纸本)9781479917594

This paper presents a second order sliding mode control for an inverted pendulum which is a nonlinear and unstable system. Two second order sliding mode algorithms are presented: twisting algorithm and super-twisting algorithm. They are used to ensure not only a better robustness against parametric uncertainties, modeling errors and external disturbances, by the attenuation of chattering, but also a finite time convergence of state variables. Simulations results are shown to manifest the efficiency of these approaches.

关键词： inverted pendulum second order sliding mode control twisting algorithm super-twisting algorithm

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Stability preserving maps for finite-time convergence: super-twisting sliding-mode algorithm

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AUTOMATICA 2013年第2期49卷 534-539页

作者： Pico, J. Pico-Marco, E. Vignoni, A. De Battista, H. Univ Politecn Valencia Inst Automat & Informat Ind Valencia Spain Univ Nacl La Plata CONICET LEICI Fac Ingn La Plata Buenos Aires Argentina

The super-twisting algorithm (STA) has become the prototype of second-order sliding mode algorithm. It achieves finite time convergence by means of a continuous action, without using information about derivatives of the sliding constraint. Thus, chattering associated to traditional sliding-mode observers and controllers is reduced. The stability and finite-time convergence analysis have been jointly addressed from different points of view, most of them based on the use of scaling symmetries (homogeneity), or non-smooth Lyapunov functions. Departing from these approaches, in this contribution we decouple the stability analysis problem from that of finite-time convergence. A nonlinear change of coordinates and a time-scaling are used. In the new coordinates and time-space, the transformed system is stabilized using any appropriate standard design method. Conditions under which the combination of the nonlinear coordinates transformation and the time-scaling is a stability preserving map are given. Provided convergence in the transformed space is faster than O(1/tau)-where tau is the transformed time-convergence of the original system takes place in finite-time. The method is illustrated by designing a generalized super-twisting observer able to cope with a broad class of perturbations. (C) 2012 Elsevier Ltd. All rights reserved.

关键词： Stability analysis Convergence analysis Sliding mode Stability preserving maps super-twisting algorithm

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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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Torque controller of a doubly-fed induction generator impelled by a DC motor for wind system applications

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IET RENEWABLE POWER GENERATION 2014年第5期8卷 484-497页

作者： Morfin, Onofre A. Ruiz-Cruz, Riemann Loukianov, Alexander G. Sanchez, Edgar N. Castellanos, M. I. Valenzuela, Fredy A. Autonomous Univ Juarez City Ciudad Juarez Chihuahua Mexico IPN Ctr Res & Adv Studies Zapopan Jalisco Mexico Autonomous Juarez Univ Tabasco Cunduacan Tabasco Mexico

The authors propose robust non-linear controllers for a wind system. The proposed controllers are based on a combination of the block control linearisation and super-twisting algorithm, as a second-order sliding mode technique. The main control loop is designed to regulate the electromagnetic torque and stator power factor of a doubly-fed induction generator which is connected to the grid. The generator is mechanically coupled with a DC motor, which can emulate the wind turbine operation. Therefore, an auxiliary control loop is designed to control the DC motor velocity. Additionally, a grid-side converter controller is proposed to regulate the DC-link voltage into AC/DC/AC converter, and displacement factor of the energy flow between the rotor and the grid. A robust stability analysis of the complete closed-loop system under external disturbances is presented. The robustness of the proposed control schemes is validated in real time using a workbench, which consists of a motor-generator group, AC/DC/AC electronic drive and dSPACE DS 1104 controller boards.

关键词： AC-DC power convertors angular velocity control asynchronous generators control system synthesis DC-AC power convertors DC motor drives electric current control linearisation techniques load flow control nonlinear control systems power control power generation control power generation faults power grids power system stability robust control torque control variable structure systems voltage control wind power plants wind turbines torque controller doubly-fed induction generator DC motor velocity control wind system application robust nonlinear controller block control linearisation super-twisting algorithm second-order sliding mode technique electromagnetic torque regulation stator power factor regulation wind turbine operation auxiliary control loop system design grid-side converter controller DC-link voltage regulation AC-DC-AC converter energy flow displacement factor rotor robust stability analysis power system disturbance motor-generator group AC-DC-AC electronic drive dSPACE DS 1104 controller board

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