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作者： Basin, Michael Rodriguez-Ramirez, Pablo Garza-Alonso, Alison Department of Physical and Mathematical Sciences Autonomous University of Nuevo Leon San Nicolas de los GarzaNuevo Leon Mexico ITMO University 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 multivariable one. An upper estimate of its convergence (settling) time is calculated in each case. Several examples are provided to illustrate the obtained theoretical results. © 2018 Chinese Automatic Control Society and John Wiley & Sons Australia, Ltd

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

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Attitude control for a bionic soft-robotic-ray via a differential flatness theory and a super-twisting algorithm

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JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 2024年第15期361卷

作者： Cheng, Haiyan Fang, Bin Liu, Qing Zhang, Jinhua Hong, Jun Xi An Jiao Tong Univ Key Lab Educ Minist Modern Design & Rotor Bearing Xian 710049 Peoples R China Xian Univ Technol Sch Automat & Informat Engn Xian 710048 Peoples R China

The development of soft robots provides better possibilities on attitude bionic motion for bionic mechanisms, but there are strong nonlinear challenges in attitude control such as modeling difficulties and external interference caused by soft materials, application environments and so on. This paper presents an attitude control method using a differential flatness theory and a super-twisting algorithm for control problems of strong nonlinear and underactuated for a pneumatic driven bionic soft-robotic-ray which is driven by dozen bionic soft pneumatic actuated fins. A dynamic flatness system is obtained and proved for the bionic soft pneumatic actuated fins by kinematic model and the differential flatness theory, respectively. A desired output solver is designed to calculate desired spatial position for each bionic soft pneumatic actuated fin under desired undulatory attitude of the bionic soft-robotic-ray. Using the super- twisting algorithm, a sliding-mode-controller based on an extended-state-observer is designed to realize the desired spatial position tracking control for each bionic soft pneumatic actuated fin. Finite-time stabilization of the dynamic flatness system under the introduced attitude control method is proved via a Lyapunov method. Simulations are carried out to verify the availability of the attitude control method applied to the bionic soft-robotic-ray.

关键词： Underwater robot Differential flatness theory super-twisting algorithm Finite-time stabilization

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Extremum seeking control based on the super-twisting algorithm ⁎

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IFAC-PapersOnLine 2020年第2期53卷 1621-1626页

作者： Ixbalank Torres Fernando López-Caamal Héctor Hernández-Escoto Alejandro Vargas C.A. Telemática Departamento de Ingeniería Electrónica Universidad de Guanajuato Carretera Salamanca-Valle de Santiago Km. 3.5 + 1.8 Comunidad de Palo Blanco C.P. 36885 Salamanca Mexico Departamento de Ingeniería Química Universidad de Guanajuato Noria Alta C.P. 36050 Guanajuato México Laboratorio de Investigación en Procesos Avanzados de Tratamiento de Aguas Instituto de Ingeniería - UNAM Av. Juriquilla 3001 C.P. 76230 Querétaro Mexico

This article addresses the problem of extremum seeking of a continuous-time dynamical system with a single input and a single output. First, a super-twisting-based gradient-based optimization algorithm is proposed to compute the input that leads to the extremum value of an unknown, convex objective function. Since the algorithm requires the input-output gradient of the system’s response, a super-twisting based differentiator is proposed to compute the gradient using the measured output and the controlled input. Feasibility of the extremum seeking controller is demonstrated via closed-loop simulations over a microalgae production photobioreactor.

关键词： Extremum seeking control sliding modes super-twisting algorithm differentiators process control

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

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IFAC-PapersOnLine 2020年第2期53卷 9974-9979页

作者： Zengjie Zhang Yongchao Wang Dirk Wollherr Chair of Automatic Control Engineering Technical University of Munich 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.

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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Demagnetization fault reconstruction for six-phase permanent magnet synchronous motor by improved super-twisting algorithm-based sliding-mode observer

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MEASUREMENT 2021年 172卷 108905-108905页

作者： Zhao, Kaihui Leng, Aojie Zhou, Ruirui Dai, Wangke Wu, Sicheng Li, Tao Hunan Univ Technol Coll Elect & Informat Engn Zhuzhou 412007 Peoples R China Hunan Univ Technol Coll Traff Engn Zhuzhou 412007 Peoples R China Tokyo Univ Technol Sch Engn Hachioji Tokyo 1920982 Japan

Demagnetization fault causes the performance degradation of a permanent magnet synchronous motor (PMSM) drive system. Therefore, it is of great importance to reconstruct demagnetization fault in real-time. This paper firstly presents a demagnetization fault reconstruction method for a six-phase permanent magnet synchronous motor (SP-PMSM). A super-twisting algorithm-based sliding-mode Luenberger observer (STA-SMLO) is designed. It can eliminate the chattering of the sliding mode observer (SMO) and effectively isolate the influence of motor speed on the observer. The mathematical model of the demagnetized SP-PMSM is constructed by the vector space decomposition (VSD). Then, an STA-SMLO, which combines a super-twisting algorithm-based sliding-mode observer (STA-SMO) with a Luenberger-observer (LO), is designed to reconstruct the demagnetization fault of the SP-PMSM precisely. Moreover, a strong Lyapunov function is designed to ensure the stability of STA-SMLO. Experiment results of hardware-in-the-loop simulation (HILS) demonstrate the feasibility and advantages of the method.

关键词： Six-phase permanent magnet synchronous motor (SP-PMSM) Demagnetization fault super-twisting algorithm Sliding-mode observer Luenberger observer

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Engine Cylinder Pressure Estimation Using Second-Order Sliding Mode Observer Based on super-twisting algorithm 11

Engine Cylinder Pressure Estimation Using Second-Order Slidi...

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11th World Congress on Intelligent Control and Automation

作者： Zheng, Tai-xiong Kou, Xiao-pei Li, Yong-fu Chongqing Univ Posts & Telecommun Inst Automot Elect & Embedded Syst Chongqing 400065 Peoples R China

ISBN: (纸本)9781479958252

Using observer to estimate cylinder pressure is significant for control and engine on-line diagnosis. Aiming to overcome the chattering phenomenon of sliding mode observer, a second-order sliding mode observer is designed based on the engine cylinder pressure model. And then part of the continuous observer injectors are designed to overcome the chattering problem and eliminate the error based on super-twisting algorithm. In addition, the convergence of system error in finite time is guaranteed by designing fittable observer parameters using second-order sliding mode theory. The simulation results show that the chattering is eliminated by using the proposed approach and the estimated error is reduced by about 10% compared with the method in [8].

关键词： Observer super-twisting algorithm Cylinder pressure estimation Second-Order Sliding Mode

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External Perturbation Estimation based on super-twisting algorithm for Attitude Control of UAVs

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IFAC Proceedings Volumes 2012年第13期45卷 746-752页

作者： L. Derafa A. El Hadri L. Fridman Control and Command Laboratory Ecole Militaire Polytechnique 16111 Bordj El Bahri Algiers Algeria Laboratory of Systems Engineering (LISV) Versailles University 10-12 Avenue de l'Europe 78140 Vélizy France Dept. Control Automatico CINVESTAV-IPN-Mexico D.F.AP-14-740 on leave on Departamento de Ingeneria de Control y Robotica Devision de Ingeneria Electrica Facultad de Ingeneria UNAM

In this paper, the problem of UAVs attitude control with external perturbation is addressed. The algorithm is constructed in two steps, in the first step the external perturbation is estimated using finite time convergent observer (super-twisting algorithm (STA)) while in the second step this estimation is used by the controller in order to compensate it. The closed loop stability properties of this nonlinear controller/observer are analyzed using separation principle and the system is found to be globally stable. The results of simulations and actual experiments on a real quadrotor show the effectiveness of the proposed observer/controller to improve the performances of the system despite of disturbances.

关键词： Quadrotor UAV super-twisting algorithm disturbance estimation attitude control

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A sensorless control scheme based on fractional order super-twisting algorithm and improved FLL for PMSM

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ADVANCES IN MECHANICAL ENGINEERING 2024年第10期16卷

作者： Huangfu, Liqun Chen, Cen Zhang, Tao Huaiyin Inst Technol Meicheng Rd 1 Huaian 223003 Peoples R China

To further improve the accuracy of sensorless control at medium and high speeds for permanent magnet synchronous motor (PMSM) and expand its applicability, this paper proposes a new scheme that uses a sliding mode observer and a frequency-locked loop (FLL) for control. The combination of the super-twisting algorithm (STA) and fractional calculus algorithm (FCA) is applied to the observer, which improves the convergence speed and accuracy. In response to the limitations of phase-locked loops (PLLs), a second-order generalized integral frequency-locked loop (SOGI-FLL) is introduced into the control system to be compounded to form a novel control system with compensation, which filters the signal while achieving accurate tracking of rotor position information. Finally, a series of experiments were conducted to compare the performance of the proposed control scheme with conventional control schemes. The superiority and feasibility of the sensorless control scheme were verified through experimental results on a permanent magnet synchronous motor platform.

关键词： Sliding mode observer frequency-locked loop super-twisting algorithm sensorless control fractional calculus algorithm phase-locked loop

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SECOND-ORDER SLIDING MODE FOR POSITION AND ATTITUDE TRACKING CONTROL OF QUADCOPTER UAV: super-twisting algorithm

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INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL 2020年第1期16卷 29-43页

作者： Matouk, Djihad Abdessemed, Foudil Gherouat, Oussama Terchi, Younes Mostefa Ben Boulaid Univ Batna 2 Dept Elect LEA Lab 53 Route Constantine Fesdis 05078 Batna Algeria Ferhat Abbas Univ Setif 1 Dept Elect LSI Lab Cite El Maabouda 19000 Setif Algeria Ferhat Abbas Univ Setif 1 Dept Elect Cite El Maabouda 19000 Setif Algeria

Currently, tracking control of UAVs type quadcopter is a hot spot for researchers. In order to solve this control problem, the choice of the appropriate controller, according to the desired objectives, is a fundamental concern. Regardless of the harmful chattering phenomena, sliding mode control (SMC) has shown acceptable performance. In this paper, trajectory tracking control of the quadcopter is carried out through second-order sliding mode control (2-SMC). It is one of the alternative solutions that preserves the advantages of the conventional SMC while avoiding the undesirable chattering effect. Specifically, the super-twisting algorithm, which is modified 2-SMC that prevents the need for any sliding variable derivative, is adopted. For the sake of ensuring stability and enhancing the quadcopter tracking trajectory, a global block control based on the super-twisting algorithm is designed. The proposed technique offers high stability since it allows the derivation of the appropriate control law for each position and attitude state. Simulation results illustrate the efficiency of this approach in terms of stability and tracking control. A comparison study with classical SMC and type-2 fuzzy logic controller is given to clarify the effectiveness of the proposed 2-SMC.

关键词： Quadcopter UAV Full trajectory tracking Nonlinear control Second-order sliding mode control super-twisting algorithm

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