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Direct yaw moment control and state observer design for four in-wheel motor drive electric vehicles based on super-twisting algorithm

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2024年第1期238卷 198-211页

作者： Xu, Tao Zhao, Youqun Zhao, Qixian Wang, Qiuwei Deng, Huifan Lin, Fen Nanjing Univ Aeronaut & Astronaut Coll Energy & Power Engn Nanjing Jiangsu Peoples R China Univ Minnesota Dept Comp Sci & Engn Minneapolis MN USA

In order to improve the handling stability for four in-wheel motor drive electric vehicles (4IWMD EVs), a novel direct yaw moment control (DYC) strategy is proposed in this paper. To begin with, the problem formulation is stated by considering modeling errors and external disturbance. To obtain direct yaw moment output, a direct yaw moment controller is given by using conventional sliding mode theory at first. In order to deal with large gains of sign function, which brings severe chattering problem in conventional first-order sling mode (FOSM) control, an improved adaptive second-order sliding mode control strategy is proposed based on super-twisting algorithm (STA) to estimate vehicle model errors and external lumped disturbance. In addition, taking the cost problem in practice into account, an integral sliding mode observer (ISMO) is constructed to estimate and calculate the actual values of sideslip angle indirectly on the basis of STA. Furthermore, a composite control strategy is proposed according to stability analysis, combining adaptive second-order sliding mode controller with ISMO. Eventually, comparative simulations are conducted in Carsim and Simulink. The results show that proposed control strategy can achieve superior tracking performance under the premise of tackling chattering phenomenon, and the response curves are smoother. Meanwhile, the influence of uncertain disturbance proves to be weakened significantly with STA-based scheme while performances of other control strategies are seriously affected, which verifies the robustness and effectiveness of proposed control strategy.

关键词： Direct yaw moment control electric vehicles sliding mode control super-twisting algorithm state observer

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Quantized synchronization of memristive neural networks with time-varying delays via super-twisting algorithm

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NEUROCOMPUTING 2020年第0期380卷 133-140页

作者： Sun, Bo Wen, Shiping Wang, Shengbo Huang, Tingwen Chen, Yiran Li, Peng Univ Elect Sci & Technol China Sch Comp Sci & Engn Chengdu 611731 Peoples R China Huazhong Univ Sci & Technol Sch Automat & Artificial Intelligence Wuhan 430074 Peoples R China Texas A&M Univ Qatar Sci Program Doha 23874 Qatar Duke Univ Dept Elect & Comp Engn Durham NC 27708 USA Univ Calif Santa Barbara Dept Elect & Comp Engn Santa Barbara CA 93106 USA

In this paper, we investigate quantized synchronization control problem of memristive neural networks (MNNs) with time-varying delays via super-twisting algorithm. A feedback controller is introduced with quantized method. To enormously reduce the computational complexity of the controller under super-twisting algorithm, two quantized control schemes are proposed with uniform quantizer and logarithmic quantization. We obtain some sufficient conditions of specific control plans to guarantee that the driving MNNs can synchronize with the response MNNs. A neoteric Lyapunov functional is designed to analyze the synchronization problem. Finally, in this paper ending, some illustrative examples are given in support of our results. (C) 2019 Elsevier B.V. All rights reserved.

关键词： Memristive neural network super-twisting algorithm Quantized control scheme Synchronization Time-varying delay

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Disturbance-observer-based speed control for SPMSM drives using modified super-twisting algorithm and extended state observer

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ASIAN JOURNAL OF CONTROL 2024年第3期26卷 1089-1102页

作者： Liu, Yong-Chao Laghrouche, Salah Depernet, Daniel N'Diaye, Abdoul Djerdir, Abdesslem Cirrincione, Maurizio Univ Bourgogne Franche Comte FEMTO ST Inst UMR 6174 Energy Dept CNRSUTBM Belfort France Univ South Pacific Sch Informat Technol Engn Math & Phys Suva Fiji

To address the robust speed control problem of the surface-mounted permanent-magnet synchronous motor (SPMSM) drive, a novel composite speed controller (CSC) is proposed, which consists of the modified super-twisting sliding-mode SC (STSM-SC) and the extended state observer (ESO). Regarding the motion dynamics of the SPMSM drive, the unmodeled dynamics, endogenous, and exogenous disturbances are lumped together as the total disturbance. The ESO-based feedforward compensation mechanism is used to deal with the total disturbance for the robustness improvement of the speed control achieved by the modified STSM-SC-based feedback regulation mechanism. On the basis of the field-oriented control strategy, performance comparisons of the standard STSM-SC, the ESO-based standard STSM-SC, the modified STSM-SC, and the proposed CSC are carried out on a suitably developed experimental setup. The experimental results are presented to validate the superiority of the proposed CSC.

关键词： disturbance-observer-based control extended state observer permanent-magnet synchronous motor sliding-mode control speed control super-twisting algorithm

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Output-Feedback Multivariable Global Variable Gain super-twisting algorithm

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2017年第6期62卷 2999-3005页

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

A novel output-feedback super-twisting algorithm design is proposed for uncertain multivariable plants. In order to allow global finite-time exact tracking in the presence of a rather general class of matched nonlinear disturbances which may depend on measured and/or unmeasured states, the algorithm is designed with variable gains. This represents a significant extension of a recently proposed nondecoupled multivariable super-twisting algorithm, based on state-feedback with fixed gains, to the case of output-feedback with variable gains.

关键词： Global exact tracking higher-order sliding modes multivariable control output-feedback super-twisting algorithm uncertain nonlinear systems

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Extremum seeking control and gradient estimation based on the super-twisting algorithm

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JOURNAL OF PROCESS CONTROL 2021年 105卷 223-235页

作者： Torres-Zuniga, Ixbalank Lopez-Caamal, Fernando Hernandez-Escoto, Hector Alcaraz-Gonzalez, Victor Univ Guanajuato Dept Elect Engn CA Telemat Carretera Salamanca Valle Santiago Km 3-5 1-8 Salamanca 36885 Mexico Univ Guanajuato Dept Chem Engn Guanajuato 36050 Mexico Univ Guadalajara Ctr Univ Ciencias Exactas & Ingn Blvd Marcelino Garcia Barragan 1421 Guadalajara 44430 Mexico

This article addresses the problem of extremum seeking of a continuous-time dynamical system with a single input and a single output. A super-twisting-based optimization algorithm is proposed to compute the input that leads to the extremum value of an unknown convex objective function. Our optimization algorithm requires the input-output gradient of the system's response at steady state, which we compute throughout a super-twisting-based differentiator. Feasibility of the proposed extremum seeking strategy is demonstrated by two simulation examples. The first one is an example of interest in academy. The second one is a novel biohydrogen production process. (C) 2021 Elsevier Ltd. All rights reserved.

关键词： Extremum seeking control Sliding modes super-twisting algorithm Differentiators Process control Microbial electrolysis cell

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On the Robustness of a Modified super-twisting algorithm With Prescribed-Time Convergence

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IEEE ACCESS 2024年 12卷 58106-58113页

作者： Silva, Joao F. Santos, Davi A. Aeronaut Inst Technol BR-12228900 Sao Jose Dos Campos Brazil

This paper addresses the robustness of a novel two-stage super-twisting algorithm designed to converge within a prescribed time interval despite disturbances and model uncertainties. Initially, we introduce a method for tuning parameters that guarantees the algorithm's analytic solution will reach the origin precisely at a prescribed instant, assuming an unperturbed scenario. We then enhance this method to maintain prescribed-time convergence, even when faced with unknown bounded disturbances. The algorithm's performance is demonstrated through a numerical simulation of a state estimation problem for a perturbed damped pendulum. The results show that the estimation errors converge robustly to the origin at the prescribed time and remain there afterward.

关键词： Prescribed-time convergence robust estimation super-twisting algorithm

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A new modified super-twisting algorithm with double closed-loop feedback regulation

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL 2017年第11期39卷 1603-1612页

作者： Yang, Yi Qin, Shiyin Beijing Univ Aeronaut & Astronaut Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China Henan Polytech Univ Sch Elect Engn & Automat Jiaozuo Peoples R China

In order to improve the convergence of a sliding variable in super-twisting algorithm (STA), two linear correction terms are added to the classical STA to form a structure of double closed-loop feedback. The new regulation mechanism can accelerate the sliding variable approaching the sliding surface and simultaneously limit knotty overshoot. A series of simulation results indicate the new modified STA can shorten the settling time of the sliding variable effectively and provide stronger robustness. Moreover, the position tracking test results on DC servo system validate the advantageous performance of the modified STA proposed in this paper.

关键词： Double closed-loop feedback sliding mode control super-twisting algorithm

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A New Sliding Mode Observer Design for Fault Estimation in a Class of Nonlinear Fractional-Order Systems Based on the super-twisting algorithm

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JOURNAL OF CONTROL AUTOMATION AND ELECTRICAL SYSTEMS 2021年第6期32卷 1531-1539页

作者： Mousavi, Seyed Mohammad Moein Ramezani, Amin Tarbiat Modares Univ Dept Elect & Comp Engn Tehran Iran

This paper is concerned with fault estimation in a class of nonlinear fractional-order systems using a new second-order sliding mode observer. Since the existing sliding mode observers are troubled with the chattering phenomenon, a new observer structure is proposed, and finite-time convergence of error dynamics is proved using fractional-order super-twisting algorithm (FSTA). Two numerical examples of chaotic fractional-order systems and comparison with a similar observer show the chattering reduction and justify the proposed observer's effectiveness.

关键词： Nonlinear fractional-order system Fault estimation Sliding mode observer super-twisting algorithm Chaotic fractional-order systems

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An Adaptive Robust Guidance Law Designed by Non-smooth Continuous Control and super-twisting algorithm

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ENGINEERING LETTERS 2019年第1期27卷 256-262页

作者： Xu, Shuai Gao, Min Wang, Yi Fang, Dan Jin, Saisai Army Engn Univ 97 Heping West Rd Shijiazhuang 050003 Hebei Peoples R China Beijing Aerosp Command Control Ctr 109 YouYi Rd Beijing 100000 Peoples R China

On the basis of non-smooth continuous control and super-twisting algorithm, an adaptive robust finite-time stable guidance law with attack angle constraint is proposed. For the nominal closed-loop system, a continuous non-smooth guidance law is presented on account of non-smooth control. By improving the fractional power function in the feedback function to speed up the convergence process, the law has a shorter convergence time. Then, super-twisting algorithm is applied to reduce the control command chattering. Besides, the parameters are adjusted by adaptive law to avoid the "excessive estimation" problem of the parameter upper limits. Simulation results under disturbance conditions indicate that the designed guidance law can effectively overcome influence of random disturbances, and obtain higher guidance precision than the law with traditional sliding mode.

关键词： guidance law non-smooth control super-twisting algorithm parameter adaptation finite-time stability

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super-twisting algorithm Second-Order Sliding Mode Control of a Bidirectional DC-to-DC Converter Supplying a Constant Power Load.

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IFAC-PapersOnLine 2022年第31期55卷 287-294页

作者： Marius Ulla Hatlehol Mehdi Zadeh

The super-twisting algorithm is employed to control the voltage of a Bidirectional DC-to-DC Converter of an on-board propulsion system in presence of large load variations. The Bidirectional DC-to-DC Converter is modeled using average value modeling, and it is shown by an alternative approach that the zero dynamics for the converter topology supplying a Constant Power Load are unstable with the DC bus voltage as output, and stable for the inductor current as output. Here, a derivation of the controller gains is presented based on the average model of the system. The gains are described with respect to the inductor current and its bounded perturbations. The performance of the proposed controller is compared to a conventional cascaded PI controller, and exhibits strong robustness with respect to external system variations.

关键词： Sliding Mode Control Higher-Order Sliding Mode super-twisting algorithm Bidirectional DC-to-DC Converter Constant Power Load DC Power System Propulsion System

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