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Discrete-Time twisting algorithm Implementation With Implicit-Euler ZOH Discretization Method

IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS 2022年第8期69卷 3435-3439页

作者： Xiong, Xiaogang Bai, Yang Shi, Ran Kamal, Shyam Wang, Yujie Lou, Yunjiang Harbin Inst Technol Shenzhen Sch Mech Engn & Automat Shenzhen 518055 Peoples R China Ritsumeikan Univ Coll Informat Sci & Engn Kusatsu 5258577 Japan Shenzhen Polytech Sch Mechatron Engn Shenzhen 518055 Peoples R China Indian Inst Technol Varanasi BHU Dept Elect Engn Varanasi 221005 Uttar Pradesh India Univ Illinois Dept Elect & Comp Engn Urbana IL 61801 USA

The significant numerical chattering hinders control applications of the twisting algorithm in digital environments. Previous implicit discrete-time implementation algorithms have the potential to attenuate the numerical chattering, but they require numerical solvers or do not consider the zero-order hold (ZOH) effect of Analog to Digital Converter (ADC) devices in digital control applications. This brief introduces an enhanced implementation algorithm for the famous twisting algorithm with the ZOH discretization method. It entails no numerical solvers and takes the ZOH effect into account, which enables control applications of the twisting algorithm in practice. The stability properties of the proposed realization algorithm are also analyzed with Lyapunov methods. Comparing to the previous implicit-Euler based implementation scheme for the twisting algorithm, the proposed one significantly attenuates the chattering in the presence of the ZOH effect without the requirement of any numerical solver.

关键词： Numerical stability Stability analysis Discrete-time systems Robustness Embedded systems Circuits and systems Sliding mode control twisting algorithm digital sliding mode control ZOH numerical chattering implicit Euler

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Determination of the convergence domain of the twisting algorithm thanks to a switching gain approach 57

Determination of the convergence domain of the twisting algo...

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57th IEEE Conference on Decision and Control (CDC)

作者： Primot, Muriel Tahoumi, Elias Yan, Xinming Plestan, Franck Univ Nantes CNRS LS2N UMR 6004 Nantes France Technocentre Renault Guyancourt France Ecole Cent Nantes CNRS LS2N UMR 6004 Nantes France

ISBN: (纸本)9781538613955

The twisting algorithm is a well-known control law ensuring second order sliding mode establishment when applied to an uncertain nonlinear system. However, the convergence domain has not been nowadays formally determined. Thanks to an original approach that is based on the fact that the twisting control law can be viewed as a controller with switching gain, the domain of convergence of a closed-loop system controlled by the twisting algorithm is obtained. Simulations show the precision of the obtained result.

关键词： Sliding mode control twisting algorithm convergence domain

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twisting control algorithm for the yaw and pitch tracking of a twin rotor UAV

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INTERNATIONAL JOURNAL OF AUTOMATION AND CONTROL 2017年第2期11卷 143-163页

作者： Rakhtala, Seyed Mehdi Ahmadi, Mostafa Golestan Univ Dept Elect Engn Gorgan Iran Islamic Azad Univ Aliabad Katul Dept Elect Engn Ali Abad Katul Iran

In this paper, second order sliding mode controller is used to compensate the pitch and yaw angles of multivariable (MIMO) twin rotor system. Twin rotor has six state variables including yaw and pitch angles, yaw and pitch angular velocities, and armature currents. Considering the physical structure of twin rotor, the controller aims to track the mentioned angles and stabilise their angular velocities. Two sliding surfaces are defined as the sum of tracking error of yaw and pitch angles and their integrals. The controller performance is studied in the light of tracking accuracy and steady-state error, transient behaviour and response fluctuations level, consistency. The closed-loop system performance will also be studied in the light of disturbance effect rejection, presence of uncertainty in the model, and presence of estimated practical noise. The simulation is presented for first and second order sliding mode controllers and their advantages and disadvantages will be investigated.

关键词： twin rotor first and second sliding mode control twisting algorithm uncertainty practical noise

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Euler's discretization effect on a twisting algorithm based sliding mode control

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AUTOMATICA 2016年 68卷 203-208页

作者： Yan, Yan Galias, Zbigniew Yu, Xinghuo Sun, Changyin Univ Shanghai Sci & Technol Control Sci & Engn Dept Shanghai Peoples R China AGH Univ Sci & Technol Dept Elect Engn PL-30059 Krakow Poland RMIT Univ Sch Engn Melbourne Vic 3001 Australia Southeast Univ Sch Automat Nanjing 210000 Jiangsu Peoples R China

In this paper, the Euler's discretization of the second order sliding mode control system with the twisting algorithm is studied. It shows that, for all values of discretization steps, initial conditions and allowable parameter setting, the system trajectories are always bounded. It also shows that for the uncertain systems, under a mild condition, the system trajectories are also bounded. Further, the periodic behaviors and limit cycles of the system trajectories are explored with conditions for the existence of periodic orbits formulated. Extensive simulation examples are given to show typical trajectories, and comparison between the first order and second order sliding mode control systems. (C) 2016 Elsevier Ltd. All rights reserved.

关键词： Sliding mode control twisting algorithm Periodic orbits Euler's discretization Stability

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Control of Chaotic Systems with Disturbances using LMI-based twisting-like algorithm 12

Control of Chaotic Systems with Disturbances using LMI-based...

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12th IEEE Conference on Industrial Electronics and Applications (ICIEA)

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

ISBN: (纸本)9781509061617

This paper proposes a chaos control scheme for stabilizing chaotic systems in the presence of external disturbances. The scheme is based on a twisting-like algorithm, which consists of a state feedback control law and the twisting algorithm (TA). The TA is one of the promising high-order sliding-mode control algorithms. The Lyapunov direct method is utilized to derive a sufficient stability condition. The condition is formulated in a Linear Matrix Inequality (LMI) form and therefore is readily solved. The Lorenz system with an external disturbance is used as a demonstrative example. Numerical results illustrate the effectiveness of the proposed control scheme.

关键词： Chaos control Chaotic Lorenz systems twisting algorithm High sliding mode control External disturbance

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Second order sliding mode observer based on twisting algorithm for induction motor

Second order sliding mode observer based on twisting algorit...

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16th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)

作者： Hammouda, Wajdi Ladhari, Taoufik M'sahli, Faouzi Univ Monastir Res Unit Ind Syst Study & Renewable Energy ESIER Natl Engn Sch Monastir Ave Ibn ElJazzar Monastir 5019 Tunisia

ISBN: (纸本)9781467392341

This work is devoted to the synthesis of an observer for induction motor. most control laws require a precise knowledge on model at each sampling time. However, the inaccessibility of some states and large variations of some parameters such as the stator and the rotor resistances, during induction motor operating, represent major challenges for performances of this system. In this sense, a second order sliding mode observer based on twisting algorithm is proposed for recovering induction machine internal states. This observer presents the interest of second order sliding mode in terms of convergence in finite time and robustness against parameters variation. Simulation results show performances of this observer.

关键词： Induction motor Second order sliding mode observer twisting algorithm

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A Robust Control Method for Reliability Improvement of Cascade H-Bridge STATCOM Under DC-Link Capacitance Uncertainty

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INTERNATIONAL JOURNAL OF ENERGY RESEARCH 2025年第1期2025卷

作者： Azimi, Maede Asadi, Mehdi Arak Univ Technol Dept Elect Engn Arak Iran

This paper proposes a robust DC-link voltage controller designed for a multilevel-based static synchronous compensator (STATCOM), addressing both DC-link capacitance degradation and load variations. The uncertainty in DC-link capacitance is modeled as an external perturbation, leading to the development of a second-order sliding mode controller (SOSMC) based on a twisting algorithm. This controller effectively manages these uncertainties, providing high stability and robustness against parameter variations and external disturbances. Furthermore, it reduces unwanted chattering and enhances overall system performance. The impact of DC-link capacitance uncertainty on the reliability of multilevel converters is analyzed, comparing the proposed SOSMC with traditional proportional-integral (PI) controllers in the Simulink MATLAB environment. The results demonstrate that the SOSMC method outperforms the PI controller under 33% uncertainty in DC-link capacitance over 5 years. The proposed control scheme not only meets reactive power demands but also effectively manages uncertainties in DC-link capacitors. Additionally, the twisting algorithm maintains an acceptable total harmonic distortion (THD) index on the AC side, thereby improving overall reliability while reducing maintenance costs.

关键词： DC-link variation reliability sliding mode control STATCOM twisting algorithm uncertainty

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A Minimum Operator-Based Discrete-Time Sliding Mode Control

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2024年第11期69卷 7871-7876页

作者： Prasun, Parijat Kamal, Shyam Pandey, Sunidhi Bartoszewicz, Andrzej Ghosh, Sandip Indian Inst Technol BHU Dept Elect Engn Varanasi 221005 India Lodz Univ Technol Inst Automat Control PL-90537 Lodz Poland

In this article, a minimum operator-based law for discrete-time sliding mode control is proposed, which stands between the Gao's reaching law and Utkin's reaching law, alleviating the limitations of both types, i.e., primarily chattering in the former and overly large control action in the latter case. The minimum operator-based discrete-time sliding mode control is designed for first-order and second-order perturbed systems. Further, a minimum operator-based twisting-like algorithm is developed, which ensures the band free convergence of the system states in finite time. Simulation results show the efficacy of the proposed methodology.

关键词： Switches Vectors Sliding mode control Closed loop systems Discrete-time systems Dynamical systems Transforms Discrete sliding mode control (SMC) minimum operator reaching law approach twisting algorithm

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Synchronous Pitch and Yaw Orientation Control of a Twin Rotor MIMO System Using State Varying Gain Sliding Mode Control

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ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING 2024年第12期49卷 16169-16182页

作者： Palepogu, Koteswara Rao Mahapatra, Subhasish VIT AP Univ Sch Elect Engn Guntur 522237 Andhra Pradesh India

This study introduces a novel control approach for a twin rotor multi-input multi-output system (TRMS), specifically targeting the pitch and yaw movements. The proposed method employs a sliding mode controller (SMC) with variable gains, aiming to overcome limitations like chattering and excessive control effort. Unlike traditional controllers, the gains here dynamically adjust based on the error state, enhancing the robustness of the system against external disturbances and parameter uncertainties. The control algorithm draws inspiration from both first-order and higher-order sliding mode controllers. To rigorously assess the robustness of the controller, Gaussian White noise is incorporated into the model. By dynamically adjusting gains, the proposed approach aims to minimize control effort while mitigating control signal overestimation arising from model uncertainties. Furthermore, stability analysis confirms that the operating point of the closed-loop system converges within a finite time. The effectiveness of this novel controller is validated through simulations using the MATLAB/Simulink environment.

关键词： TRMS Helicopter model Sliding mode control twisting algorithm Variable gains

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Performance evaluation of iterative learning control with different sliding mode algorithms for the slip-ratio control of an electric vehicle

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2023年第10期33卷 5388-5403页

作者： Denny, C. Dimna Kumar, P. Ramesh APJ Abdul Kalam Technol Univ Dept Elect Engn GEC Thrissur Trichur Kerala India APJ Abdul Kalam Technol Univ Dept Elect Engn GEC Wayanad Wayanad Kerala India

Developing a control strategy that can handle model uncertainties, external disturbances, and parameter fluctuations is essential for the desired operation of a nonlinear system. An attempt is made to develop such a control algorithm using the Learning Variable Structure Control technique. The proposed controllers have the advantages of both iterative learning control (ILC) and sliding mode control (SMC) such that they can compensate both structured and unstructured uncertainties. They are made comprised of modified-twisting algorithm and super-twisting algorithm respectively with the ILC technique. In this article, the performance of the two developed controllers is compared to a traditional SMC-based ILC approach. Based on simulation results, the super-twisting algorithm based ILC is found to be superior with reference to speed of convergence and tracking accuracy. This method is used to control the slip-ratio of an electric vehicle as a specific application in this paper.

关键词： electric vehicle iterative learning control sliding mode control slip-ratio control super-twisting algorithm twisting algorithm

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