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Back-Stepping Formation Control of Unmanned Surface Vehicles With Input Saturation Based on Adaptive super-twisting algorithm

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IEEE ACCESS 2022年 10卷 114885-114896页

作者： Zou Yuhan Kun, Wang Wei, Shang Zhou, Liu Zheng Zhongzhong Hao, Jing Guo Hubei Univ Technol Sch Mech Engn Wuhan 430068 Peoples R China China Ship Dev & Design Ctr Wuhan 430064 Peoples R China

Aiming at the formation control problem for unmanned surface vehicles under input overload and external disturbance, a leader-follower formation control law based on input saturation and the adaptive super-twisting algorithm was designed in this paper. Firstly, the mathematical model of underactuated unmanned surface vehicle formation based on the leader-follower method is established, and the virtual expected velocity is designed by the back-stepping method to improve the control accuracy of formation. Secondly, the parametric uncertainties and unknown external disturbances in the USV's dynamical model are compensated by the proposed adaptive super-twisting control laws. In addition, the input saturation function is added to the controller to avoid machine necrosis caused by input overload. Finally, Simulation results show that the controller can roughly keep the trajectory of the USV consistent with the expected trajectory and ensure that the input values are within the safe range, which proves the effectiveness of the method in this paper.

关键词： Formation control Convergence Uncertainty Stability analysis Oscillators 1 f noise Mathematical models Autonomous vehicles Multi-agent systems Unmanned surface vehicles multi-agent system super-twisting algorithm input saturation

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Optimal super-twisting algorithm with time delay estimation for robot manipulators based on feedback linearization

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ROBOTICS AND AUTONOMOUS SYSTEMS 2018年 108卷 87-99页

作者： Kali, Yassine Saad, Maarouf Benjelloun, Khalid Ecole Technol Super Montreal PQ H3C 1K3 Canada Univ Mohammed 5 Ecole Mohammadia Ingn Rabat Morocco

In this paper, an Optimal super-twisting algorithm COSTA) with time delay estimation is designed based on Input/Output feedback linearization for uncertain robot manipulators. The design procedure consists on three steps. Firstly, an Input/Output feedback linearization is applied to transform the nonlinear model into a linear equivalent one. Secondly, by defining a quadratic performance, an optimal sliding surface will be designed. Finally, a super-twisting algorithm with time delay estimation is proposed for high accuracy tracking trajectory. Lyapunov theory is used to prove the finite-time convergence of the sliding surface and its derivative. This structure is used to estimate unknown dynamics and to reduce the control effort and the chattering phenomenon. (C) 2018 Elsevier B.V. All rights reserved.

关键词： super-twisting algorithm Feedback linearization Time delay estimation Lyapunov Uncertain robot manipulators

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A Disturbance Rejection Control Strategy for Droop-Controlled Inverter Based on super-twisting algorithm

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IEEE ACCESS 2019年 7卷 27037-27046页

作者： Zhang, Wei Wang, Wei Liu, Hongpeng Xu, Dianguo Harbin Inst Technol Dept Elect Engn Harbin 150001 Heilongjiang Peoples R China

In distributed generation systems, multiple inverters paralleled operation is essential for the power requirement of local loads. To achieve the reasonable power distribution among the inverters, droop control is an effective method for the paralleled operation systems without the control interconnection. In general, the multi-loop control structure is usually utilized to regulate the drooped voltage across local loads. However, by using the traditional multi-loop controller, such as proportional-integral and proportional-resonant controllers, the dynamic process of load variation or mode transfer is slow, even the voltage overshoot or drop may occur. To address the above issues, a compact control structure-based super-twisting algorithm has been proposed in this paper. Benefitting from the designed sliding mode controllers, the dynamic response, the load disturbance rejection, and reference tracking performance can be improved. In addition, the robustness to parameters mismatch can also be achieved by using the proposed control method. The comparative simulation and experimental results validate the correctness and feasibility of the proposed method.

关键词： Microgird system voltage-controlled inverter disturbance rejection super-twisting algorithm droop control

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Adaptive multivariable generalized super-twisting algorithm based robust coordinated control for a space robot subjected to coupled uncertainties

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2019年第9期233卷 3244-3259页

作者： Wei, Jinyuan Yuan, Jianping Wang, Zheng Northwestern Polytech Univ Natl Key Lab Aerosp Flight Dynam 127 West Youyi Rd Xian 710072 Shaanxi Peoples R China Northwestern Polytech Univ Sch Astronaut Xian Shaanxi Peoples R China

There often exist strong coupled characteristics between the space robot platform and the manipulators. The neglect of the coupled factors may induce undesired control performance or even lead to system crash. In this paper, a novel robust adaptive coordinated control scheme is developed for a space robot with coupled uncertainties and external disturbances. By proposing a multivariable generalized super-twisting algorithm, the bounded disturbances together with uncertainties could be compensated. An adaptation tuning approach is developed to deal with the unknown bounds. Meanwhile, the sliding mode disturbance observer is introduced to alleviate the system conservatism and improve convergence rate and accuracy. As a result, the accurate state tracking is achieved in finite time. A proof of the finite-time convergence is derived using the Lyapunov theory. Simulations are carried out on a space robot with a three-degrees-of-freedom manipulator to demonstrate the effectiveness and robustness of the proposed method.

关键词： Space robot coordinated control super-twisting algorithm adaptive control sliding mode disturbance observer

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A Dual-Level Adaptive Law Design for super-twisting algorithm in Sensorless IPMSM Drives

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IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS 2023年第5期59卷 5945-5956页

作者： Lin, Qilian Liu, Ling Liang, Deliang Jin, Dongsong Jia, Shaofeng Song, Han Xi An Jiao Tong Univ State Key Lab Elect Insulat & Power Equipment Shaanxi Key Lab Smart Sch Elect Engn Xian 710049 Peoples R China

This paper proposes a dual-level adaptive law for third order super-twisting extended state observer (STESO) in a hybrid sensorless IPMSM drive. According to Lyapunov stability analysis, the coefficients of a super-twisting sliding-mode observer are often constrained by a lower limit to ensure robustness. However, when working in the wide-speed region, this constraint is too ambiguous to serve as a practical tuning guideline. A dual-level adaptive STESO is proposed using equivalent control and Lyapunov stability analysis to extend the operating range while simultaneously suppressing sliding-mode ripples. A rigorous stability analysis is presented, and a tuning guideline for guaranteeing the convergence of the whole algorithm is included. Besides, at low speeds, improvements have been made in torque ripple suppression and cross-coupling effect compensation, and their effectiveness has been validated both theoretically and practically. Several effective experimental results are presented to verify the feasibility of the proposed observer on the interior PMSM drive platform.

关键词： Observers Tuning Estimation error Torque Stators Rotors Robustness super-twisting algorithm adaptive extended state observer hybrid sensorless control IPMSM

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Position and attitude tracking of uncertain quadrotor unmanned aerial vehicles based on non-singular terminal super-twisting algorithm

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 2020年第3期234卷 396-408页

作者： Alqaisi, Walid Kali, Yassine Ghommam, Jawhar Saad, Maarouf Nerguizian, Vahe Univ Quebec ETS Elect Engn Dept Montreal PQ H3C 1K3 Canada Sultan Qaboos Univ Dept Elect & Comp Engn Muscat Oman

This paper proposes an improved non-singular terminal super-twisting control for the problem of position and attitude tracking of quadrotor systems suffering from uncertainties and disturbances. The super-twisting algorithm is a second-order sliding mode known to be a very effective control used to provide high precision and less chattering for uncertain nonlinear electromechanical systems. The proposed method is based on a non-singular terminal sliding surface with new exponent that solves the problem of singularity. The design procedure and the stability analysis of the closed-loop system using Lyapunov theory are detailed for the considered system. Finally, the proposed control scheme is tested in simulations and by experiments on the parrot-rolling spider quadrotor. Moreover, a comparison is made with the standard super-twisting algorithm in the simulation part. The results obtained show adequate performance in trajectory tracking and chattering reduction.

关键词： Non-singular terminal sliding surface super-twisting algorithm unmanned aerial vehicle altitude and attitude tracking finite-time convergence

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Multivariable super-twisting algorithm for Systems With Uncertain Input Matrix and Perturbations

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2022年第12期67卷 6716-6722页

作者： Moreno, Jaime A. Rios, Hector Ovalle, Luis Fridman, Leonid Univ Nacl Autonoma Mexico Inst Ingn Mexico City 04510 DF Mexico Tecnol Nacl Mexico IT La Laguna Torreon 27000 Coahuila Mexico Catedras CONACYT Mexico City 03940 DF Mexico Univ Nacl Autonoma Mexico Fac Ingn Mexico City 04510 DF Mexico Sirius Univ Sci & Technol Ctr Informat Technol & AI Soci 354340 Russia

This article proposes a Lyapunov approach to the design of a multivariable generalized super-twisting algorithm (MGSTA), which is able to control a system with perturbations and uncertain control matrix, both depending on time and the system states. The presented procedure shows that, under reasonable assumptions for the uncertainties, it is always possible to find a set of constant gains for the MGSTA in order to ensure global and robust finite-time stability of the system's outputs. Simulation results on an omnidirectional mobile robot illustrate the performance of the MGSTA.

关键词： Robust control sliding-mode control super-twisting algorithm uncertain systems

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Continuous Nonsingular Fast Terminal Sliding Mode Control of Cable-Driven Manipulators With super-twisting algorithm

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IEEE ACCESS 2018年 6卷 49626-49636页

作者： Wang, Yaoyao Yan, Fei Chen, Jiawang Chen, Bai Nanjing Univ Aeronaut & Astronaut Coll Mech & Elect Engn Nanjing 210016 Jiangsu Peoples R China Zhejiang Univ State Key Lab Fluid Power & Mechatron Syst Hangzhou 310027 Zhejiang Peoples R China Zhejiang Univ Ocean Coll Hangzhou 310029 Zhejiang Peoples R China

For the high-accuracy tracking control purpose of cable-driven manipulators under complex lumped uncertainties, a novel continuous nonsingular fast terminal sliding mode (CNFTSM) control scheme using a modified super-twisting algorithm (STA) is proposed and investigated in this paper. The proposed method applies the time-delay estimation (TDE) technique to estimate and compensate the unknown lumped system dynamics leading to an attractive model-free nature. Then, the NFTSM manifold and the modified STA scheme are used to ensure finite-time convergence performance in both the reaching and sliding mode phases. Thanks to the TDE technique, the proposed method is model-free and suitable to use in complicated practical applications;meanwhile, fast convergence, high tracking accuracy, and good robustness against lumped uncertainties can be ensured befitting from the CNFTSM control with NFTSM error dynamics and STA schemes. Stability of the closed-loop control system is proved. Finally, 2 degrees of freedom comparative simulations and experiments were performed to demonstrate the effectiveness and superiorities of our proposed method over the existing TDE-based robust control schemes.

关键词： Continuous nonsingular fast terminal sliding mode cable-driven manipulator time-delay estimation super-twisting algorithm

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Adaptive gains of dual level to super-twisting algorithm for sliding mode design

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IET CONTROL THEORY AND APPLICATIONS 2018年第17期12卷 2347-2356页

作者： Luo, Dong Xiong, Xiaogang Jin, Shanghai Kamal, Shyam Huazhong Univ Sci & Technol Wuhan Natl Lab Optoelect Wuhan Hubei Peoples R China Harbin Inst Technol Shenzhen Sch Mech Engn & Automat Shenzhen Key Lab Mech & Control Aerosp Shenzhen 518055 Peoples R China Yanbian Univ Sch Engn Yanji 133002 Peoples R China BHU Indian Inst Technol Dept Elect Engn Varanasi 221005 Uttar Pradesh India

A gain-adaption mechanism of a dual level to the super-twisting algorithm (STA) for adaptive sliding mode design is studied. The proposed dual level method first tunes a third-order sliding mode observer to exactly estimate the magnitude level of external disturbances, and then adjusts the two gains (a, beta) of STA online simultaneously such that a second-order sliding mode can take place with small rectifying gains. The gains of the third-order sliding mode observer are adjusted by exploring the homogeneous property such that only one auxiliary parameter L is needed to be tuned. The magnitude of this parameter L increases until the error between the observer output and actual disturbance disappears. While driving the sliding variable to the sliding mode surface of STA, one gain beta of the STA automatically converges to an adjacent area of the perturbation magnitude in finite time. The other gain a is adjusted by the gain beta to guarantee the robustness of the STA. This method requires no intervention during adaptation. The usefulness is illustrated by an example of designing an equivalent control-based sliding mode control with the proposed adaptive STA for a perturbed linear time-invariant system.

关键词： variable structure systems adaptive control control system synthesis observers adaptive gains super-twisting algorithm mode design gain-adaption mechanism dual level method third-order sliding mode magnitude level external disturbances STA online simultaneously second-order sliding mode rectifying gains sliding variable sliding mode surface mode control adaptive STA

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Discrete-time equivalents of the super-twisting algorithm

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AUTOMATICA 2019年 107卷 190-199页

作者： Koch, Stefan Reichhartinger, Markus Graz Univ Technol Inst Automat & Control Christian Doppler Lab Model Based Control Complex Graz Austria Graz Univ Technol Inst Automat & Control Graz Austria

In this paper, entirely new discrete-time variants of the super-twisting algorithm are presented. The development of these discrete-time equivalents is based on certain criteria, e.g., the approximation of the continuous-time super-twisting algorithm as the discretization time tends to zero. In contrast to the classical explicit Euler discretized super-twisting dynamics, the proposed schemes are exact in the sense that in the unperturbed case, the controllers ensure local convergence to the origin. Oscillations of the system states caused by the discrete-time implementation of the super-twisting algorithm are avoided. The superiority of the developed control laws is demonstrated in simulation examples as well as in a real-world application. These examples reveal that the standard accuracy of the homogeneous second-order sliding mode is preserved and, in contrast to the explicit Euler discretized algorithm, in the presence of exact discrete measurements, the precision of the controlled variable is insensitive to oversized control gains. (C) 2019 Elsevier Ltd. All rights reserved.

关键词： Sliding mode control super-twisting algorithm Robust control Discrete-time systems Chattering Stability analysis

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