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CONTINUOUS FIXED-TIME CONVERGENT super-twisting algorithm IN CASE OF UNKNOWN STATE AND DISTURBANCE INITIAL CONDITIONS

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ASIAN JOURNAL OF CONTROL 2019年第1期21卷 323-338页

作者： Basin, Michael Rodriguez-Ramirez, Pablo Garza-Alonso, Alison Autonomous Univ Nuevo Leon Dept Phys & Math Sci San Nicolas De Los Garza Nuevo Leon Mexico ITMO Univ St Petersburg Russia

This paper presents a fixed-time convergent super-twisting-like algorithm designed to provide a direct extension, without any additional terms, of the conventional super-twisting control system, whose state initial condition is unknown and the disturbance initial condition is bounded by a known constant or even completely unknown. The fixed-time convergent super-twisting-like algorithm is first designed for a scalar system and then generalized to a multi-variable one. An upper estimate of its convergence (settling) time is calculated in each case. Several examples are provided to illustrate the obtained theoretical results.

关键词： super-twisting algorithm fixed-time convergence settling time estimation

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Robust Non-overshooting Tracking and Model Following Controller using Multi-variable super-twisting algorithm 6

Robust Non-overshooting Tracking and Model Following Control...

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6th Indian Control Conference (ICC)

作者： Ganguly, Siddhartha Bera, Manas Kumar Roy, Prasanta Indian Inst Technol Syst & Control Engn Mumbai 400076 Maharashtra India NIT Silchar Dept Elect & Instrumentat Engn Silchar Assam India NIT Silchar Dept Elect Engn Silchar Assam India

ISBN: (纸本)9781728138602

This paper presents the design of robust tracking and model following (RTMF) controller based on multivariable super-twisting algorithm (MSTA) for a class of uncertain multiinput multi-output (MIMO) linear-time invariant (LTI) systems. The desired behavior of the uncertain plant is achieved by defining a model with ideal response characteristics, and a controller based on MSTA is designed so that the asymptotic convergence of error between the output of the plant and model can be guaranteed. To ensure the good transient response while tracking without overshoot, a model has been developed based on non-overshooting control technique. The robust supertwisting sliding mode controller helps to achieve the desired system performance by following this model response faithfully, rejecting the disturbance with a continuous control. Finally, this strategy has been validated through numerical simulation considering a MIMO quadruple tank process (QTP). The simulated results are presented to illustrate the effectiveness of the proposed RTMF controller.

关键词： Sliding mode control super-twisting algorithm Model following control Quadruple tank process Non-overshooting contol

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Multivariable super-twisting algorithm for a Class of Systems with Uncertain Input Matrix

Multivariable Super-Twisting Algorithm for a Class of System...

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American Control Conference (ACC)

作者： Vidal, Paulo V. N. M. Nunes, Eduardo V. L. Hsu, Liu Univ Fed Rio de Janeiro COPPE BR-21941901 Rio De Janeiro RJ Brazil

ISBN: (纸本)9781467386821

In this paper, we propose a new design for a multivariable super-twisting algorithm, which does not require the exact knowledge of the system input matrix. In addition, by means of a nonlinear (state-dependent) time scaling we propose a new algorithm with variable gains which is able to present global stability properties for wider class of nonlinear disturbances. The latter can be analysed using the same theoretical framework as in the case of constant gains. The theoretical results are illustrated by simulations.

关键词： super-twisting algorithm higher-order sliding modes multivariable control uncertain systems

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Dynamic Process Elimination Control Strategy based on super-twisting algorithm for Droop-Controlled Grid-Connected Inverter 10

Dynamic Process Elimination Control Strategy based on Super-...

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10th International Conference on Power Electronics and ECCE Asia (ICPE - ECCE Asia)

作者： Zhang, Wei Liu, Hongpeng Wang, Wei Blaabjerg, Frede Harbin Inst Technol Sch Elect Engn & Automat Harbin Peoples R China Aalborg Univ Dept Energy Technol Aalborg Denmark

ISBN: (纸本)9788957083130

Droop-controlled inverter can operate in both islanded and grid-connected mode without reconfiguring the control structure, which can achieve a seamless transfer between both modes. The traditional double-loop structure based on proportional resonant controller is usually utilized to regulate a drooped voltage across local loads or inject power to the grid, but the dynamic process of load variation and mode transfer can hardly be satisfied. To solve this issue, a based super-twisting algorithm double-loop has been proposed here, which not only improve the dynamic process of mode transfer, but is also robust to the system parameters mismatch. Simulation and experimental results validate the correctness and feasibility of the proposed method.

关键词： Droop control grid-connected inverter dynamic process elimination super-twisting algorithm

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Safe Tracking Control of Euler-Lagrangian Systems Based on A Novel Adaptive super-twisting algorithm 21st

Safe Tracking Control of Euler-Lagrangian Systems Based on A...

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

作者： Zhang, Zengjie Wang, Yongchao Wollherr, Dirk Tech Univ Munich Chair Automat Control Engn Munich Germany

In this paper, a novel adaptive second-order sliding mode controller is designed for Euler-Lagrangian systems with hard safety constraints. Different from the conventional sliding mode controllers, the proposed method provides adaptive controller parameters, such that the robustness of the controller is ensured without bringing up chattering. The controller also guarantees strict compliance to hard state-dependent inequality constraints. The asymptotic convergence of the tracking errors of the proposed controller is proven by a direct Lyapunov method. Finally, the proposed controller is validated by numerical simulation on a three-degree-of-freedom robot platform. The results confirm that the controller ensures strict constraint compliance and precise trajectory tracking, which reveals its potential applicability to the safe control of mechatronic systems. Copyright (C) 2020 The Authors.

关键词： human-robot interaction adaptive sliding mode control super-twisting algorithm parameter self-tuning robot safety control state-constrained control hard safety constraints

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On the Fragility of Multivariable super-twisting algorithm for non-Symmetric Uncertain Input Matrix 58

On the Fragility of Multivariable Super-Twisting Algorithm f...

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58th IEEE Conference on Decision and Control (CDC)

作者： Keijock, Timon Asch Nunes, Eduardo V. L. Hsu, Liu Univ Fed Rio de Janeiro COPPE BR-21941901 Rio De Janeiro RJ Brazil

ISBN: (纸本)9781728113982

A non-decoupled MIMO super-twisting algorithm (STA) extension, not requiring the exact knowledge of the system input matrix was recently developed. However, a symmetry assumption had to be made on the uncertain gain matrix. In this paper, we exploit how far from the symmetric case the stability of the multivariable algorithm can be preserved. Some asymmetry bounds are theoretically established showing that for small enough asymmetry, stability can be guaranteed. Moreover, the Lyapunov function used in the analysis, leads to a rather sharp detection of instability, when asymmetry increases. Surprisingly, it also reveals that the actual asymmetry allowance can be quite small suggesting some fragility of the algorithm for the class of uncertainty considered. This motivates the need of new developments for more robust multivariable STA as an interesting open problem.

关键词： super-twisting algorithm higher-order sliding modes multivariable control uncertain systems

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Force Control of Electrohydraulic Systems using super-twisting algorithm 10

Force Control of Electrohydraulic Systems using Super-Twisti...

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10th Annual IEEE International Systems Conference (SysCon)

作者： Kuntanapreeda, Suwat King Mongkuts Univ Technol North Bangkok Fac Engn Dept Mech & Aerosp Engn Bangkok 10800 Thailand

ISBN: (纸本)9781467395199

Control of complex dynamical systems such as electrohydraulic systems is challenging. This paper presents force control of an electrohydraulic actuator using the super-twisting algorithm (STA). The STA is one of the most promising high-order sliding-mode control algorithms. It guarantees robustness with respect to modeling errors, uncertainties and external disturbances while reducing the chattering phenomenon found in the conventional sliding-mode control (SMC) algorithm. In this paper, the STA was utilized to achieve a robust nonlinear controller for force control of an electrohydraulic actuator. The benefits offered by the STA-based control compared to the conventional SMC-based control were demonstrated through numerical simulations. Finally, experiments on a real-life electrohydraulic system were conducted to illustrate the success and effectiveness of the STA-based controller.

关键词： nonlinear control force control electrohydraulic system super-twisting algorithm high-order sliding-mode control

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Time-varying sliding mode controller design with super-twisting algorithm for Synchronous control of Double-Containers for Overhead Cranes 40

Time-varying sliding mode controller design with Super-twist...

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40th Chinese Control Conference (CCC)

作者： Zhu, Xinlei Xu, Weimin You, Zhiteng Hu, Qiang Xu, Xianxian Shanghai Maritime Univ Minist Commun Key Lab Marine Technol & Control Engn Shanghai 201306 Peoples R China

ISBN: (纸本)9789881563804

In this study, a simple double-container position synchronization control algorithm based on a time-varying sliding mode surface (TVSMS) and adaptive super-twisting algorithm (ASTA) is developed for overhead crane system. The double-container overhead crane suffers from the perturbation of system parameters and external disturbances. Firstly, the potential load model of the double-container overhead crane in the interlocking mode is established. Then, a novel time-varying sliding surface is designed using cross-coupling error in order to ensure double-container position synchronization of overhead crane system. The design objective of the proposed controller is to ensure the synchronous movement of double-container while reaching the desired location. The time-varying sliding mode eliminates the reaching phase and ensures the global robustness of the overhead crane system. Furthermore, the adaptive super-twisting algorithm is used to weaken chattering and improve the performance of the controller. At the same time, the extended state observer (ESO) is used to estimate the mismatched disturbance of the overhead crane system. The Lyapunov stability theory is used to prove the stability of the controlled system. The simulation experiments illustrate the effectiveness of the designed algorithms.

关键词： synchronous control interlocking mode time-varying sliding mode extended state observer super-twisting algorithm

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Improved Performance of Boost Converter with super-twisting algorithm Under Sliding-Mode Operation

Improved Performance of Boost Converter with Super-twisting ...

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International Conference on Next Generation Intelligent Systems (ICNGIS)

作者： Riyas, K. Anasraj, R. Govt Engn Coll Thrissur Dept Elect & Elect Engn Trichur India

ISBN: (纸本)9781509008704

This paper proposes analysis of boost converter with super-twisting algorithm under sliding mode operation in continuous conduction mode. The super-twisting algorithm reduces the chattering effect which is inherent in conventional sliding mode control. This control minimizes the initial current peak and provides output voltage regulation irrespective of input voltage perturbation and load changes. The converter is also controlled by a PI controller and the performances under each controller are compared.

关键词： DC/DC boost converter sliding mode control voltage regulation inrush current super-twisting algorithm

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Virtual Inertia Provision Through the super-twisting algorithm

Virtual Inertia Provision Through the Super-twisting Algorit...

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IEEE-Power-and-Energy-Society General Meeting (PESGM)

作者： Alfaro-Bernardino, Amaranta Zamora, A. Rueda-Escobedo, J. G. Paternina, M. R. A. Mejia-Ruiz, Gabriel U Michoacana Morelia Michoacan Mexico Univ Nacl Autonoma Mexico Mexico City DF Mexico

ISBN: (纸本)9798350381849;9798350381832

This paper presents a super twisting-based synchronous reference frame phase-locked-loop controller for distributed battery energy storage systems in power grids with a high penetration of renewable energies. The proposed method improves the frequency stability of the power networks in the presence of sudden generation/consumption imbalances. In addition, in the case of virtual inertia response, the active power is also adjusted in response to variations of the RoCoF. The PI controllers are tuned via the pole placement method. The transient stability simulations for disturbances are performed using Matlab & Simulink platforms. The results demonstrate a 34% drop in the nadir when the virtual inertia strategy is employed.

关键词： Virtual inertia battery energy storage system frequency RoCoF super-twisting algorithm

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