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A super-twisting-Like algorithm and Its Application to Train Operation Control With Optimal Utilization of Adhesion Force

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 2016年第11期17卷 3035-3044页

作者： Chen, Yao Dong, Hairong Lu, Jinhu Sun, Xubin Guo, Liang Hong Kong Polytech Univ Dept Comp Kowloon Hong Kong Peoples R China Beijing Jiaotong Univ State Key Lab Rail Traff Control & Safety Beijing 100044 Peoples R China Chinese Acad Sci Acad Math & Syst Sci Inst Syst Sci Beijing 100190 Peoples R China Beijing Jiaotong Univ Sch Elect & Informat Engn Beijing 100044 Peoples R China

The friction between wheel and track is usually called adhesion force, and it is the critical factor for the movement of trains. On one hand, excessive driving force of a train may lead to insufficient utilization of the adhesion effect and cause wasted energy;on the other hand, insufficient driving force of a train brings inefficient train operation. To balance the issues of energy consumption, operational efficiency, and security, it is necessary to control a train to obtain its maximal adhesion force, particularly in the cases of fast acceleration and emergency braking. However, since engineering experiments indicate a complex nonlinear relationship between the adhesion force and the slip ratio of a train, such a control problem is difficult and challenging, particularly when the optimal slip ratio is unknown. Facing this problem, this paper proposes a novel control method based on the modification of the famous super-twisting sliding mode algorithm, and rigorous mathematical analysis is given to guarantee the ultimate boundedness of the proposed algorithm. Furthermore, by considering four different control scenarios, detailed control and estimation algorithms are both proposed. Simulation result verifies that the proposed control strategy can control the train to obtain its maximum adhesion force.

关键词： Train operation control super-twisting algorithm adhesion force

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Time-varying sliding mode controller design with super-twisting algorithm for Synchronous control of Double-Containers for Overhead Cranes

Time-varying sliding mode controller design with Super-twist...

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第40届中国控制会议

作者： Xinlei Zhu Weimin Xu Zhiteng You Qiang Hu Xianxian Xu Key Laboratory of Marine Technology and Control Engineering Ministry of CommunicationsShanghai Maritime University

In this study, a simple double-container position synchronization control algorithm based on a time-varying sliding mode surface(TVSMS) and adaptive super-twisting algorithm(ASTA) is developed for overhead crane system. The double-container overhead crane suffers from the perturbation of system parameters and external disturbances Firstly, the potential load model of the double-container overhead crane in the interlocking mode is established. Then, a novel time-varying sliding surface is designed using cross-coupling error in order to ensure double-container position synchronization of overhead crane system. The design objective of the proposed controller is to ensure the synchronous movement of double-container while reaching the desired location. The time-varying sliding mode eliminates the reaching phase and ensures the global robustness of the overhead crane system. Furthermore, the adaptive super-twisting algorithm is used to weaken chattering and improve the performance of the controller. At the same time, the extended state observer(ESO) is used to estimate the mismatched disturbance of the overhead crane system. The Lyapunov stability theory is used to prove the stability of the controlled system. The simulation experiments illustrate the effectiveness of the designed algorithms.

关键词： synchronous control interlocking mode time-varying sliding mode extended state observer super-twisting algorithm

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Force Control of Electrohydraulic Systems using super-twisting algorithm

Force Control of Electrohydraulic Systems using Super-Twisti...

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Annual IEEE International Systems Conference

作者： Suwat Kuntanapreeda Department of Mechanical and Aerospace Engineering Faculty of Engineering King Mongkut's University of Technology North Bangkok

ISBN: (纸本)9781467395205

Control of complex dynamical systems such as electrohydraulic systems is challenging. This paper presents force control of an electrohydraulic actuator using the super-twisting algorithm (STA). The STA is one of the most promising high-order sliding-mode control algorithms. It guarantees robustness with respect to modeling errors, uncertainties and external disturbances while reducing the chattering phenomenon found in the conventional sliding-mode control (SMC) algorithm. In this paper, the STA was utilized to achieve a robust nonlinear controller for force control of an electrohydraulic actuator. The benefits offered by the STA-based control compared to the conventional SMC-based control were demonstrated through numerical simulations. Finally, experiments on a real-life electrohydraulic system were conducted to illustrate the success and effectiveness of the STA-based controller.

关键词： Nonlinear control Force control Electrohydraulic system super-twisting algorithm High-order sliding-mode control Force control nonlinear control ELECTROHYDRAULIC electro-hydraulic actuator stormwater treatment areas Variable structure systems

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CONTINUOUS FIXED-TIME CONVERGENT super-twisting algorithm IN CASE OF UNKNOWN STATE AND DISTURBANCE INITIAL CONDITIONS

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ASIAN JOURNAL OF CONTROL 2019年第1期21卷 323-338页

作者： Basin, Michael Rodriguez-Ramirez, Pablo Garza-Alonso, Alison Autonomous Univ Nuevo Leon Dept Phys & Math Sci San Nicolas De Los Garza Nuevo Leon Mexico ITMO Univ 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 multi-variable one. An upper estimate of its convergence (settling) time is calculated in each case. Several examples are provided to illustrate the obtained theoretical results.

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

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Multivariable super-twisting algorithm for a class of systems with uncertain input matrix

Multivariable Super-Twisting Algorithm for a class of system...

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American Control Conference

作者： Paulo V. N. M. Vidal Eduardo V. L. Nunes Liu Hsu COPPE-Federal University of Rio de Janeiro 21941-901 Brazil

ISBN: (纸本)9781467386838

In this paper, we propose a new design for a multivariable super-twisting algorithm, which does not require the exact knowledge of the system input matrix. In addition, by means of a nonlinear (state-dependent) time scaling we propose a new algorithm with variable gains which is able to present global stability properties for wider class of nonlinear disturbances. The latter can be analysed using the same theoretical framework as in the case of constant gains. The theoretical results are illustrated by simulations.

关键词： uncertain systems super-twisting algorithm higher-order sliding modes multivariable control multivariable control uncertain systems higher-order mode Multivariable time scaling overall buckling updated design super twisted nematic matrices Plant uncertain systems input

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A Minimum Operator Based Discrete-Time super-twisting-Like algorithm

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS 2024年第1期71卷 286-290页

作者： Prasun, Parijat Pandey, Sunidhi Kamal, Shyam Ghosh, Sandip Xiong, Xiaogong Indian Inst Technol BHU Varanasi Dept Elect Engn Varanasi 221005 India Harbin Inst Technol Dept Mech & Automat Shenzhen 518055 Peoples R China

In this brief, a minimum operator (MO) based approach is proposed for discrete-time super-twisting-like algorithm which has different roots unlike its contemporaries, most of which are based on Euler-discretization (ED). The algorithm is proposed for both unperturbed and perturbed cases. The application of this algorithm is further explored for the super-twisting observer (STO) that yields the finite-time estimation of the system states. An illustrative example of a pendulum system with known as well as unknown input is considered for the state observation problem. Simulation results show the effectiveness of the proposed algorithm.

关键词： Discrete-time sliding mode control super-twisting algorithm minimum operator observer design

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Strict Lyapunov Functions for the super-twisting Consensus algorithm 17

Strict Lyapunov Functions for the Super-Twisting Consensus A...

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17th International Workshop on Variable Structure Systems

作者： Pilloni, Alessandro Callia, Leonardo Pisano, Alessandro Usai, Elio Univ Cagliari Dept Elect & Elect Engn Cagliari Italy

ISBN: (纸本)9798350353693;9798350353686

The super-twisting algorithm is widely used in the design of controllers, observers, and differentiators. This paper investigates its application to achieve consensus among a team of peer agents characterized by first-order perturbed dynamics. Agents communicate through a directed, weight-balanced communication topology. The key contributions include employing the super-twisting algorithm to solve the finite-time robust consensus problem and developing a method for constructing a family of strict Lyapunov functions to analyze its robust stability. The analysis is based on the Lyapunov approach, and the necessary conditions for the stability of the closed-loop system are derived. Simulations supporting the theoretical analysis are also provided.

关键词： Consensus Lyapunov function Second order sliding modes super-twisting algorithm Discontinuous systems

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super twisting control algorithm for Velocity Control of Mobile Wheeled Inverted Pendulum Systems

Super twisting control algorithm for Velocity Control of Mob...

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IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)

作者： Zhang, Mengshi Huang, Jian Chen, Fei Huazhong Univ Sci & Technol Sch Automat Minist Educ Image Proc & Intelligent Control Key Lab Wuhan 430074 Hubei Peoples R China Beijing Adv Innovat Ctr Intelligent Robots & Syst Beijing 100081 Peoples R China Ist Italiano Tecnol Dept Adv Robot Via Morego 30 I-16163 Genoa Italy

ISBN: (纸本)9781538680377

This paper deals with the design and verification of a nonlinear control algorithm for the Mobile Wheeled Inverted Pendulum (MWIP) systems. The algorithm is based on the second-order sliding mode control known as super-twisting algorithm (STA) which is able to eliminate the "chattering" phenomenon and ensure robustness with respect to bounded disturbances. The stability of the closed-loop system can be guaranteed according to Lyapunov theorem. In order to show the effectiveness of the proposed controller, a simulation was carried out to make the basic MWIP model move at a constant speed. Additional simulation-testings considering model uncertainties and external disturbances were also provided to verify the effectiveness and robustness of the STA. Comparisons with the Sliding Mode Control (SMC) were given to demonstrate the superiorities of the STA and the results show the favorable performance of the proposed controller in terms of chattering elimination and robustness.

关键词： Mobile Wheeled Inverted Pendulum super-twisting algorithm Velocity Control Chattering Elimination

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Robust Finite-time Position and Attitude Tracking of a Quadrotor UAV using super-twisting Control algorithm with Linear Correction Terms 16

Robust Finite-time Position and Attitude Tracking of a Quadr...

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16th International Conference on Informatics in Control, Automation and Robotics (ICINCO)

作者： Kali, Yassine Rodas, Jorge Saad, Maarouf Gregor, Raul Alqaisi, Walid Benjelloun, Khalid Ecole Technol Super GREPCI Lab Montreal PQ H3C 1K3 Canada Univ Nacl Asuncion Fac Ingn Lab Power & Control Syst Asuncion Paraguay Mohammed V Univ Ecole Mohammadia Ingn A2I Lab Rabat Morocco

ISBN: (纸本)9789897583803

This work investigates the problem of finite-time position and attitude trajectory of quadrotor unmanned aerial vehicle systems based on a modified second order sliding mode algorithm. The selected algorithm is a modified super-twisting with both nonlinear and linear correction terms. It ensures robustness against unknown dynamics and perturbations and allows fast finite-time convergence even when the trajectories of the considered system are far from the user-chosen switching surface. In addition, this algorithm is very attractive since it solves the major problems of the first and second order sliding mode, namely, the chattering phenomenon and the required unavailable information for practical implementation. To show the effectiveness of the used modified structure of the super-twisting algorithm, simulation results are presented for the considered quadrotor system.

关键词： Quadrotor Unmanned Aerial Vehicle Position and Attitude Tracking Finite-time Convergence super-twisting algorithm

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super-twisting Control algorithm for an Antilock Braking System

Super-Twisting Control Algorithm for an Antilock Braking Sys...

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IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC)

作者： Burgara-Motero, C. Anzurez-Marin, J. Ornelas-Tellez, F. Univ Michoacana Fac Ingn Elect Morelia Michoacan Mexico

ISBN: (纸本)9781479923700

This paper proposes a robust control scheme for the Antilock Braking System (ABS). The controller is based on the super-twisting (ST) control algorithm, this is a high-orden sliding mode controller. The ABS is nonlinear and uncertain system;therefore, a robust control method needs to be employed. The ST control algorithm is developed and applied for a quarter vehicle model via simulations. The simulation results reveal that the controller is fast in convergence and it has an adequate performance.

关键词： Antilock braking system (ABS) theory sliding-mode control super-twisting algorithm sliding surface

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