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terminal sliding mode control with sensor reduction of a permanent magnet synchronous generator supplying a pumping system with battery storage

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INTERNATIONAL JOURNAL OF ELECTRICAL POWER & ENERGY SYSTEMS 2025年 167卷

作者： Daganga, Clotaire Thierry Sanjong Pesdjockb, Mathieu Jean Pierre Kennea, Godpromesse Univ Dschang IUT FOTSO Victor Bandjoun Dept Genie Elect Unite Rech Automat & Informat Appl UR AIA BP 134 Bandjoun Cameroon Cameroonian Assoc Res & Innovat Energy Technol & E POB 59 Ebolowa Cameroon

This work is concerned with the study and development of a terminal sliding mode control process that employs an estimator of the wind speed and the mechanical rotation speed of the permanent magnet synchronous generator (PMSG). This results in a reduction in the overall cost of the wind power system, which comprises a PMSG, a Pulse Width Modulation (PWM) rectifier, a battery, a DC-DC converter, a PWM inverter and a centrifugal pump driven by an asynchronous squirrel-cage machine. The wind power system is validated in the MATLAB Simulink numerical simulation environment. Subsequently, the results obtained are compared with those of a conventional sliding-mode control (with a tachometric sensor and an anemometric sensor) in order to ascertain the efficacy of the proposed control method in terms of trajectory tracking, energy consumption and the reliability of the proposed estimation algorithm. The simulation results demonstrate that the proposed approach is both robust and reliable. However, it should be noted that the settling time of the estimated quantities is greater than that of the same quantities when measured with the compared approach mode

关键词： Permanent magnet synchronous generator Wind speed estimation Rotation speed observation terminal sliding mode control Battery storage

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terminal sliding mode control based on recursive stochastic configuration network for ball mill lining replacement process

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND control ENGINEERING 2024年第4期238卷 596-607页

作者： Tang, Yunze Qiao, Jinghui Chen, Yuxi Shenyang Univ Technol Sch Mech Engn Shenyang Peoples R China Shenyang Univ Technol Sch Mech Engn Shenyang 110870 Peoples R China

The precise control of multi-joint manipulators presents significant challenges in the context of replacing internal liners of large grinding machines. These challenges arise due to the uncertainty of system parameters and external disturbance. A terminal sliding mode control based on a recursive stochastic configuration network is proposed to ensure that the system is stable, and it reduces system oscillations in this article. In addition, a disturbance observer based on recursive stochastic configuration network is designed to estimate and compensate for the uncertainties in the system, thereby improving the robustness of the system. To enhance the realism of the simulations, the simulation modeling process incorporated uncertainty parameters and external disturbance information. The simulation results demonstrated the effectiveness of the proposed terminal sliding mode control approach in meeting the practical control requirements. This accomplishment presents a valuable new method for controlling mechanical arms. The method is applicable under conditions of system uncertainty and external disturbance.

关键词： Multi-joint manipulators recurrent stochastic configuration network terminal sliding mode control

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terminal sliding mode control for Quadrotors with Chattering Reduction and Disturbances Estimator: Theory and Application

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2022年第4期105卷 1-21页

作者： Hou, Zhiwei Yu, Xiang Lu, Peng Sun Yat Sen Univ Sch Syst Sci & Engn 135 Xingang Xi Rd Guangzhou 510275 Peoples R China Beihang Univ Sch Automat Sci & Elect Engn 37 Xueyuan Rd Beijing 100191 Peoples R China Univ Hong Kong Dept Mech Engn Pokfulam Rd Hong Kong 999077 Peoples R China

This paper deals with the robust flight control problem of quadrotor while taking various model uncertainties and external disturbances into consideration. The novel flight controller is proposed based on the chattering reduced terminal sliding mode control method and a universal nonlinear disturbance estimator (NDE), which is applied to improve the robustness of the flight system. By skillfully using Lyapunov theory, the stability condition of the closed-loop systems is derived and it is shown that the control gains can be reduced by estimating the model uncertainties and external disturbances. Finally, compared with traditional methods, the theoretical results are validated experimentally through tests using a quadrotor assembled with PX4 and Pixracer. Two different kinds of model uncertainties and external disturbances cases, including partial failure of a rotor and the sudden change of the load, are validated through experiments. Since the nonlinear disturbance estimator is designed in a universal way, the proposed method shows great robustness in the above two different experiment cases without changing the structure of the flight controller and the nonlinear disturbance estimator.

关键词： Quadrotor UAV terminal sliding mode control Flight controller Disturbance estimator

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Adaptive self-evolving extreme learning machine-based terminal sliding mode control with application in retinal vein injection

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ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE 2025年 152卷

作者： Hu, Bo Xu, Shiyu Liu, Lu Liu, Rongxin Sun, Mingzhu Zhao, Xin Nankai Univ Inst Robot & Automat Informat SystTianjin Key Lab Engn Res Ctr Trusted Behav IntelligenceMinist Edu Natl Key Lab Intelligent Tracking & Forecasting In Tianjin 300350 Peoples R China Nankai Univ Inst Intelligence Technol & Robot Syst Shenzhen Res Inst Shenzhen 518083 Peoples R China Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing Engn Res Ctr Ind Spectrum Imaging Beijing 100083 Peoples R China

Retinal vein occlusion (RVO) is a serious condition that can lead to blindness. Injecting drugs into the retinal vein is a promising procedure for treating RVO. Due to the fragility of the retinal tissue, maintaining a precise drug flow rate (DFR) with a fast response is critical. Considering the unknown disturbance from piston dynamic and the drug-vein interaction, an adaptive self-evolving neural terminal sliding mode (ASNTSM) controller is proposed for DFR tracking. The integral terminal sliding surface is adopted to track the desired DFR in finite-time. The extreme learning machine (ELM) is utilized to estimate overall disturbances, and the adaptive switching gain is employed to compensate for the estimation error without requiring prior bounds. To achieve a compact ELM structure, a self-evolving mechanism is designed to implement the growth or pruning strategy of the hidden neurons. Theoretical analysis has proven that the ASNTSM controller can guarantee finite-time stability. Comparative experiments are conducted using a silicon phantom with simulated blood flow disturbances. The experimental results illustrate that the ASNTSM controller not only achieves lower transient time and average steady-state error, but also exhibits lower fluctuation and chattering effect. The self-evolving mechanism enhances the practicability of neural network in artificial intelligence-based medical engineering. Therefore, the ASNTSM controller is suitable for retinal vein injection tasks to improve surgical efficiency.

关键词： Retinal vein injection Neural networks Extreme leaning machine Self-evolving mechanism terminal sliding mode control

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Nonsingular Fixed-Time terminal sliding mode control Based Emotional Neural Network for Nonlinear Systems

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INTERNATIONAL JOURNAL OF ADAPTIVE control AND SIGNAL PROCESSING 2025年第4期39卷 651-663页

作者： Jia, Chao Liu, Xiaohua Tianjin Univ Technol Sch Elect Engn & Automat Xiqing Tianjin Peoples R China

A fixed-time nonsingular terminal sliding mode control (TSMC) method based on emotional neural network (ENN) is proposed for nonlinear systems. First of all, a new terminal sliding surface (TSS) is proposed in this article, which can adaptively adjust when the system states are far and near the origin and achieve fixed time fast convergence. Second, the equivalent control term in the controller is approximated by the ENN, which solves the singularity problem of traditional TSMC and the problem of unknown model information simultaneously. Finally, by using Lyapunov stability theorem, it is proved that the system states are stable in a fixed time during both sliding and reaching stages, which is independent of the initial values. The proposed method is verified and compared on an inverted pendulum system, which shows a better control performance.

关键词： emotional neural network control fixed time control nonsingular control robust nonlinear control terminal sliding mode control

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An Extended State Observer-based on the terminal sliding mode control for 6-DOF Manipulator Against Lumped Uncertainties

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INTERNATIONAL JOURNAL OF control AUTOMATION AND SYSTEMS 2025年第3期23卷 810-823页

作者： Tran, Duc Thien Tong, Hai Ninh Ahn, Kyoung Kwan Univ Ulsan Sch Mech Engn Ulsan 44610 South Korea Ho Chi Minh City Univ Technol & Educ Dept Automat Control Ho Chi Minh City 700000 Vietnam

This paper presents an extended state observer (ESO) based on the terminal sliding mode control (TSMC) for a 6-degree-of-freedom (DOF) manipulator under the presence of dynamics error, unknown friction force, external disturbance, and loss-of-effectiveness on actuators. The proposed control strategy is constructed by the TSMC and ESO to eliminate the lumped uncertainties and enhance the tracking error performance. Initially, the tracking trajectory control is handled by the TSMC, which inherits the advantages of the conventional sliding mode control (SMC) and gives the system state errors approach the zero point in finite-time convergence and robustness against nonlinearity. Next, a linear ESO is investigated to estimate the lumped uncertainties to improve the effectiveness and descend the high oscillatory on the TSMC. In addition, the stability analysis of the control system is proven by the Lyapunov stability theorem. Finally, numerical simulations are established on MATLAB Simulink. To demonstrate its effectiveness and precision, the proposed control results are compared with alternative controllers via performance indices.

关键词： Extended state observer finite-time convergence lumped uncertainties 6-DOF manipulator terminal sliding mode control

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Self-Organizing Fuzzy terminal sliding mode control for Wastewater Treatment Processes

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2024年第4期21卷 5421-5433页

作者： Han, Honggui Feng, Chengcheng Sun, Haoyuan Qiao, Junfei Beijing Univ Technol Beijing Key Lab Computat Intelligence & Intelligen Fac Informat Technol Engn Res Ctr Digital CommunityMinist EducBeijing Beijing 100124 Peoples R China Beijing Univ Technol Beijing Lab Urban Mass Transit Beijing 100124 Peoples R China

Wastewater treatment process is a complex industrial process with disturbance and strong nonlinearity, and it is difficult to accurately track the pre-designed dissolved oxygen (DO) concentration in finite time. In this paper, a self-organizing fuzzy terminal sliding mode (SOFTSM) control strategy is proposed to solve this problem. First, a terminal sliding mode controller (TSMC) is designed to obtain a control law and achieve the finite time tracking of the pre-designed DO concentration. Second, a self-organizing fuzzy neural network (SOFNN) is utilized to estimate the nonlinear term. Then, the pruning strategy without pre-setting pruning threshold is designed to improve the approximation accuracy and further ensure the accuracy of control performance. Third, an adaptive law and robust control term are designed to reduce the influence of uncertainty and approximation error. Moreover, the stability of SOFTSM and the characteristic of finite time convergence are proved. Finally, the proposed method is tested on the benchmark simulation model no. 1 (BSM1). In contrast to other existing methods, SOFTSM can realize accurate control of DO concentration in finite time.

关键词： Wastewater treatment process dissolved oxygen self-organizing fuzzy neural network terminal sliding mode control benchmark simulation model no. 1

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Direct adaptive fractional-order non-singular terminal sliding mode control strategy using extreme learning machine for position control of 5-DOF upper-limb exoskeleton robot systems

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2024年第12期46卷 2313-2323页

作者： Mirzaee, Morteza Kazemi, Reza KN Toosi Univ Technol Fac Mech Engn Tehran Iran KN Toosi Univ Technol Fac Mech Engn Unit 3 11 Parsa DeadendKeshvari St Tehran *** Iran

This paper presents an innovative adaptive fractional-order (FO) terminal sliding mode (TSM) controller designed for a 5-degree-of-freedom (5-DOF) upper-limb exoskeleton robot. The primary focus is on addressing the challenges posed by nonlinearities and uncertainties in parameter values. The proposed approach integrates several key elements, including a novel fractional-order non-singular terminal sliding mode (FONSTSM) surface, an exponential reaching law, and the utilization of the extreme learning machine (ELM). This comprehensive strategy guarantees not only finite-time convergence but also robust stability, effectively alleviating the well-known chattering phenomenon. Furthermore, it successfully overcomes the singularity issues typically observed in conventional TSM controllers. The incorporation of the ELM with rectified linear unit (ReLU) activation function enhances robustness by facilitating the estimation of parameters related to the exponential control law. Numerical simulations provide compelling evidence of improved tracking, increased robustness against uncertainties, achievement of finite-time convergence, and notable reductions in control signal oscillations and singularity problems.

关键词： Exoskeleton robot terminal sliding mode control finite-time control adaptive control fractional-order control extreme learning machine

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Synchronization of a Seven-Term Chaotic 4D System Using a Simplified Fixed-Time Adaptive Integral Nonsingular terminal sliding mode control and Its Circuit Realization

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IEEE ACCESS 2024年 12卷 106808-106821页

作者： Wongvanich, Napasool Moonmuang, Pitchayanin Roongmuanpha, Natchanai Tangsrirat, Worapong King Mongkuts Inst Technol Ladkrabang KMITL Sch Engn Bangkok 10520 Thailand

This work presents an adaptive gain fixed-time synchronization of a seven-term hyperchaotic 4D system, along with its analog circuitry realizations. To facilitate a simplistic circuit realization of the closed loop system, the control design process initiates with the design of a novel, simplified fixed-time stability lemma that gives a lower convergence time, while being easier to compute. A nonlinear, fixed-time adaptive-gain nonsingular terminal sliding mode controller was then designed to synchronize the hyperchaotic 4D system. Theoretical analyses successfully achieved fixed-time synchronization, and computer simulations verified the achievement of zero-error convergence across all states within 1 second, irrespective of the initial conditions and even in the presence of significant parameter and disturbance changes. Analog circuitry implementations of the adaptive gain fixed-time chaotic synchronization configuration were realized using commercially available components, for instance, LF357 and AD633. The circuit equations were devised to replicate those used in the controller, with the goal of facilitating troubleshooting by ensuring simplicity. Electronics workability was tested using PSPICE simulation program. The results demonstrated that active synchronization was achieved in fixed time with less than 1% error across the states in the presence of disturbances. Finally, the developed fixed-time chaotic synchronization was applied to a secure communication system. The results indicate that the original and recovered messages exhibit a high degree of similarity to each other after a fixed duration of 1 second.

关键词： Synchronization Circuit stability sliding mode control Chaotic communication Convergence control design Stability criteria Chaotic synchronization adaptive gain fixed-time control terminal sliding mode control closed-loop circuit implementation

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Disturbance Observer Based terminal sliding mode control for an Electromagnetic Actuated Micropositioner With Prescribed Performance

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IEEE ROBOTICS AND AUTOMATION LETTERS 2024年第9期9卷 7453-7460页

作者： Xi, Rui-Dong Zhang, Xue Ma, Tie-Nan Wang, Xiaoming Xiao, Xiao Meng, Max Q. -H. Southern Univ Sci & Technol Dept Elect & Elect Engn Shenzhen Key Lab Robot Percept & Intelligence Shenzhen Peoples R China Univ Macau Dept Electromech Engn State Key Lab Internet Things Smart City Taipa 999078 Macau Peoples R China Yuanhua Robot Percept & AI Technol Ltd Shenzhen 518055 Peoples R China

Precise and smooth control of an electromagnetic actuated micropositioner is a challenging task due to the system's nonlinear electromagnetic dynamics, as well as its unique structure and application scenarios. The main challenges include high-order nonlinearity, modeling uncertainties, input buffeting, hysteresis, and vulnerability to interference. To address these comprehensive factors, a composite control scheme is proposed in this letter. At first, a new adaptive sliding mode disturbance observer, primarily based on position feedback, is introduced to eliminate the influence of external disturbances and uncertainties. A backstepping strategy is implemented that significantly improves the practicality of disturbance observer in micropositioning systems. A terminal sliding mode controller is then proposed to obtain high robustness and fast convergence, while prescribed performance technique is utilized to guarantee transient and steady-state response characteristics. For higher accuracy, transformed errors are used to construct an integral type recursive sliding manifold in this controller. The superiority of the proposed method is demonstrated through both simulation and experimental results.

关键词： Electromagnetics Accuracy Uncertainty Convergence Robustness Disturbance observers Backstepping Disturbance observer micropositioner prescribed performance control terminal sliding mode control

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