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12th International Conference on Power and Energy Systems (ICPES)

作者： Zhang, Huaying Li, Yan Wang, Zhenzi Yang, Jie Cao, Junwei China Southern Power Grid Shenzhen Power Supply Co Ltd New Smart City High Qual Power Shenzhen Guangdong Peoples R China Tsinghua Univ Dept Automat Beijing Peoples R China Tsinghua Univ Beijing Natl Res Ctr Informat Sci & Technol Beijing Peoples R China

ISBN: (纸本)9781665451451

It is difficult to adjust the parameters for the controller in the stability control of a full bridge inverter due to its unknown upper bound. To solve this problem, an improved second-order sliding mode twisting algorithm based on adaptive parameter has been proposed and simulated. By adding the adaptive parameter method into the original second-order sliding mode twisting controller, improved controller not only automatically regulates its parameters according to states of system but also fully compensates the uncertainty of upper bound. The simulation in the output control of full bridge inverter illustrates that the system can reach the target value of voltage and current in finite time. Compared with original second-order sliding mode twisting algorithm, this improved algorithm, though under the existence of unknown upper bound, can effetely guarantee the finite-time stability of the system.

关键词： higher order sliding mode twisting algorithm adaptive full bridge inverter

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State Estimation for Integrated Longitudinal and Lateral Car Following Control

State Estimation for Integrated Longitudinal and Lateral Car...

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IEEE International Conference on Control Applications/International Symposium on Intelligent Control

作者： Chaibet, Ahmed Boukhnifer, Moussa Larouci, Cherif ESTACA Lab Commande & Syst F-92300 Levallois Perret France

ISBN: (纸本)9781424446018

This paper discusses an integrated vehicle control and vehicles states estimations. The non linear observer, based on sliding mode approach is presented for estimation of the vehicle states. The considered technique is applied to the estimation problem for automated vehicles operating as two vehicles following. The integrated control consists of second order sliding mode, based on twisting algorithm. The developed controller is tested in scenario of automated driving. Both performance of observer and controller are presented to demonstrate the effectiveness of the sliding mode observer and sliding mode controller in various maneuvers.

关键词： Non linear observer Sliding mode twisting algorithm Stop and Go Vehicle dynamics

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Adaptive Twist Sliding Mode Control based Chatter Reduction for Pneumatic Artificial Muscles robot arm 8

Adaptive Twist Sliding Mode Control based Chatter Reduction ...

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8th International Conference on Modelling, Identification and Control (ICMIC)

作者： Boudoua, S. Fehag, R. Hamerlain, M. CDTA Baba Hassen Algeria

ISBN: (纸本)9780956715777

In this note we present an adaptive gain twisting sliding mode control strategy achieving chatter alleviation for the control of pneumatic artificial muscles robot arm. The key-point of the paper relies on a simple modification of the twisting algorithm where the control action is proportional to the desired sliding surface and its derivative instead of the sign of it, then the adaptive gain twist control law, continuously drives the sliding surface and its derivative to a predefined domain in finite time in the presence of bounded disturbance with unknown boundary. The derivation and the proof of the adaptation algorithm are derived from the proposed lyapunov function, and the adaptation law doesn't overestimate the values of the control gain. The efficiency of the controller is evaluated through simulation results.

关键词： sliding mode control twisting algorithm parameter adaptation Lyapunov Function design pneumatic artificial muscle robot arm

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Second-order sliding mode control applied to inverted pendulum

Second-order sliding mode control applied to inverted pendul...

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14th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)

作者： Mahjoub, Sonia Mnif, Faical Derbel, Nabil Ecole Natl Ingn Sfax Control & Energy Managment BP W Sfax 3038 Tunisia Sultan Qaboos Univ Dept Elect & Comp Engn Muscat Oman

ISBN: (纸本)9781479929542

Sliding mode control (SMC) has been considered as an effective tool in different studies for control systems. The robustness of SMC against the disturbances and model uncertainties makes the system stable. However, the chattering phenomenon degrades the system performances, it may even lead to instability. This paper deals with the second ordre sliding mode the twisting and super-twisting algorithm to solve the tracking control of underactuated manipulators. Further, comparison between controllers has been done. Simulation results are given to demonstrate the effectiveness of the proposed approaches.

关键词： Underactuated manipulator sliding mode control twisting algorithm super-twisting algorithm cart-pendulum

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Design and Robust Control of a 2 DOFs Lower Limb Exoskeleton

Design and Robust Control of a 2 DOFs Lower Limb Exoskeleton

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International Conference on Communications and Electrical Engineering (ICCEE)

作者： Ghezal, Mohamed Guiatni, Mohamed Boussioud, Ismail Renane, Cherif Sofiane Ecole Mil Polytech Complex Syst Control & Simulators Lab Algiers Algeria

ISBN: (纸本)9781728101125

For the past few decades, robotic exoskeletons have been the subject of extensive research in research laboratories. The level of performance and reliability of these systems has steadily increased. Today, these applications involve neuromotor rehabilitation and, more marginally, support for patients suffering from motor impairments. In this context, we designed and built a motorized exoskeleton with two degrees of freedom for the functional support of the lower limbs. The design was developed taking into account the different constraints related to the anatomy of the human being lower limb and the kinematicstatic compatibility and the transparency of the structure. Elastic actuators, which combine deformable elements and conventional DC motors have been produced and associated with the mechanical structure. The electronic part was also developed to instrument and control the joints of the exoskeleton. After the modeling, we have synthesized and implemented several control approaches, namely PID and twisting second order sliding mode. The results obtained showed the capacity of the exoskeleton to perform walking cycles and its robustness with regard to external disturbances.

关键词： Lower limb exoskeleton Rotary Series Elastic actuator Robust control Mechatronics design Motion control twisting algorithm

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A Lyapunov Method Analysis for Double Integrator with Bounded Perturbation 13

A Lyapunov Method Analysis for Double Integrator with Bounde...

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13th International Conference on Control Automation Robotics & Vision (ICARCV)

作者： Jang, W. Almurib, H. A. F. Kumar, T. Nandha Univ Nottingham Dept Elect & Elect Engn Semenyih Malaysia

ISBN: (纸本)9781479951994

For a parameterized family of homogeneous sliding mode based controllers under the influence of bounded perturbation, a strong Lyapunov function is presented for the first time. The family of controllers range from twisting algorithm, the linear PD control law, to the uniformly stable control law. The strict homogeneous Lyapunov function proposed here allows the estimation of the ultimate bound of convergence of the trajectories of the system, in finite-time, exponentially, or uniformly, by exploiting the homogeneity properties of the system, even in the case when it is affected by bounded non-vanishing persistent external perturbation.

关键词： Sliding mode twisting algorithm Lyapunov function Stability analysis Bounded perturbation

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Design of sliding mode control with state varying gains for a Benchmark Twin Rotor MIMO in Horizontal Motion

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EUROPEAN JOURNAL OF CONTROL 2024年 75卷

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

In this paper, a sliding mode control (SMC) with state -varying gains is proposed to control the yaw orientation of the Twin Rotor MIMO System (TRMS). This proposed SMC algorithm reduces the chattering effect without affecting the properties of the robustness of the sliding modes. The salient feature of this control is that the magnitude of the variable gains depends on the absolute values of the states and tracking error. This design exhibits a relation between first -order and higher -order sliding mode control algorithms. Besides, the developed control strategy does not overestimate disturbances. Hence, the energy utilized by the control effort is reduced significantly. The stability analysis is accomplished by considering the TRMS model in the horizontal plane to illustrate the asymptotic stability condition. Further, a comparison between the twisting algorithm and the proposed control law is highlighted. However, it is evinced that the proposed variable gain SMC is a combination of a twisting algorithm and conventional SMC. Simulations studies are carried out to highlight the efficacies of the proposed controller using MATLAB/Simulink environment.

关键词： TRMS Yaw control Rotor-craft model Sliding mode control Variable gain twisting algorithm

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A differentiator based second-order sliding-mode control of a pressurized water nuclear research reactor considering Xenon concentration feedback

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ANNALS OF NUCLEAR ENERGY 2021年 156卷 108193-108193页

作者： Abdulraheem, Kamal Kayode Korolev, Sergei Andreevich Laidani, Zaher Natl Res Nucl Univ Moscow Engn Phys Inst MEPHI Automat Dept Moscow Russia Nigeria Atom Energy Commiss Abuja Nigeria

This paper presents the twisting control algorithm with a differentiator to extend the applicability of the second-order sliding-mode control scheme in a nuclear reactor power control and regulation. Application of the second-order sliding-mode control in the power tracking control of a nuclear reactor is vital because it addresses the challenges of chattering and relative degree restriction faced in conventional-sliding mode control. A differentiator is designed to realize the exact robust differentiation of the sliding variable required in the second-order sliding-mode control. The nuclear reactor core is simulated based on the point kinetics equation with a single delayed neutron group. Using the twisting algorithm, the simulation results show that the closed-loop control system is stable, robust against external disturbance, insensitive to parametric variation, and achieved the desired performance specifications. Moreover, it is found that the twisting controller can adequately replace the super-twisting controller without compromising any of the performance indices. (C) 2021 Elsevier Ltd. All rights reserved.

关键词： Second-order sliding-mode control twisting algorithm Point Kinetics equation Load-following Nuclear reactor Lyapunov stability

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Pitch orientation control of twin-rotor MIMO system using sliding mode controller with state varying gains

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JOURNAL OF CONTROL AND DECISION 2024年第2期11卷 211-221页

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

This work presents the controlling of the pitch orientation of a twin-rotor multi-input multi-output system (TRMS) using the sliding mode control (SMC) technique with variable gains. In this, the SMC is designed using variable gains where the pitch orientation error of the vertical dynamics of the TRMS system is intended to render the control law. The magnitude of the variable gains is related to the absolute value of the tracking error. Further, this technique minimised the chattering effect by ensuring the robustness property of the sliding modes. This design establishes a relationship between first and higher-order SMCs. The proposed controller is adapted from the twisting algorithm (TA) and conventional SMC. The control algorithm does not overestimate disturbances, resulting in a large reduction in control energy. Finally, a Lyapunov stability analysis is devised to demonstrate asymptotic stability. Simulations demonstrate the pitch orientation control and robustness of the proposed control scheme.

关键词： Twin rotor MIMO system helicopter model sliding mode control robustness variable gains twisting algorithm

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Systematic Approach to Design a Finite Time Convergent Differentiator in Second Order Sliding Mode Controller

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INTERNATIONAL JOURNAL OF ENGINEERING 2013年第11期26卷 1357-1368页

作者： Rakhtala, S. M. Ranjbar, A. Ghaderi, R. Babol Univ Technol Fac Elect & Comp Engn Babol Sar Iran

This paper presents a systematic approach to design a Lyapunov based super twisting differentiator. The differentiator will be shown convergent in a finite time whilst the relevant time is accurately estimated. This differentiator is the main part to establish the sliding surface in higher order sliding mode. The differentiator is used in the prescribed control structure to regulate pressures of hydrogen and oxygen of a nonlinear Polymer Electrolyte Membrane Fuel Cells (PEMFCs) to prolong the stack life. The aim of the control strategy is to minimize and keep the deviation between the pressures of hydrogen and oxygen. The deviation forms a sliding surface, where its appropriate differentiation is required in the control law. It is the reason for reconstructing finite time derivatives in a closed-loop control. Finally, simulation result and a comparative study verify the performance of the proposed differentiator and the control structure to provide convergent estimator in finite time.

关键词： Finite Time Convergent Nonlinear Modeling twisting algorithm Convergent Differentiator Pressure Regulation

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