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The Implicit Discretization of the supertwisting Sliding-Mode Control algorithm

IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2020年第8期65卷 3707-3713页

作者： Brogliato, Bernard Polyakov, Andrey Efimov, Denis Univ Grenoble Alpes CNRS INRIA LJKGrenoble INP F-38000 Grenoble France Univ Lille CNRS INRIA UMR 9189CRIStAL F-59000 Lille France Univ ITMO Dept Control Syst & Informat St Petersburg 197101 Russia

This article deals with the analysis of the time discretization of the supertwisting algorithm, with an implicit Euler method. It is shown that the discretized system is well posed. The existence of a Lyapunov function with convex level sets is proved for the continuous-time closed-loop system. Then, the global asymptotic Lyapunov stability of the unperturbed discrete-time closed-loop system is proved. The convergence to the origin in a finite number of steps is proved also in the unperturbed case. Numerical simulations demonstrate the superiority of the implicit method with respect to an explicit discretization with significant chattering reduction.

关键词： Lyapunov methods Level set Stability analysis Closed loop systems Numerical stability Sliding mode control Asymptotic stability Implicit Euler discretization Lyapunov stability sliding mode control supertwisting algorithm

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Fast supertwisting Sliding Mode Control With Antipeaking Extended State Observer for Path-Tracking of Unmanned Agricultural Vehicles

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2024年第10期71卷 12973-12982页

作者： Yang, Wenhao Ding, Shihong Ding, Chen Jiangsu Univ Sch Elect & Informat Engn Zhenjiang 212013 Jiangsu Peoples R China Jiangsu Univ Sch Agr Engn Zhenjiang 212013 Jiangsu Peoples R China

Path-tracking control of unmanned agricultural vehicles (UAVs) is the key technology for smart farming. In this article, a novel fast super-twisting sliding mode (FSTSM) control based on the antipeaking extended state observer (AESO) is constructed for the path-tracking control design of UAVs with unknown matching perturbations. To begin with, the AESO with time-varying bandwidth is created in order to reduce the detrimental effects of perturbations and lessen the impact of the peaking phenomenon. The FSTSM controller is then presented to eliminate chattering problem existing in conventional super-twisting sliding mode (STSM) control. Different from the STSM controller, the proposed FSTSM controller can provide stronger robustness and faster convergence. Furthermore, by merging the FSTSM and AESO, a composite path-tracking controller for UAVs is proposed, which can ensure that both the lateral offset and the orientation deviation can be stabilized to the origin in finite time. Finally, comparative simulations and experiments are carried out to illustrate the superiority of the proposed strategy in perturbation rejection and tracking performance.

关键词： Extended state observer finite-time stability supertwisting algorithm unmanned agricultural vehicles (UAVs)

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Higher-order sliding mode observer for estimation of tyre friction in ground vehicles

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IET CONTROL THEORY AND APPLICATIONS 2014年第6期8卷 399-408页

作者： Rath, Jagat Jyoti Veluvolu, Kalyana Chakravarthy Defoort, Michael Soh, Yeng Chai Kyungpook Natl Univ Sch Elect Engn Taegu South Korea Univ Lille Nord France CNRS UMR 8201 LAMIH UVHC F-59313 Valenciennes France Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore

The estimation of friction coefficient for a vehicle when it traverses on different surfaces has been an important issue. In this work, the longitudinal vehicle dynamics, the torsional tyre dynamics and the non-linear LuGre friction dynamics are integrated to model the quarter vehicle dynamics. The road adhesion coefficient in the vehicle dynamics is unknown and varies with the contact surface. To address this issue, the authors consider a class of non-linear uncertain systems that covers the vehicle dynamics and develop a higher-order sliding mode observer based on supertwisting algorithm for state and unknown input estimations. Under Lipschitz conditions for the non-linear functions, the convergence of the estimation error is established. By estimating the road adhesion coefficient, the coefficient of friction can be estimated. Simulation results demonstrate the effectiveness of the proposed observer for state and unknown input estimation.

关键词： automobile industry friction nonlinear functions nonlinear systems observers road vehicles state estimation tyres uncertain systems variable structure systems vehicle dynamics road traffic control higher-order sliding mode observer tyre friction estimation ground vehicles friction coefficient estimation longitudinal vehicle dynamics torsional tyre dynamics nonlinear LuGre friction dynamics quarter vehicle dynamics road adhesion coefficient contact surface nonlinear uncertain systems supertwisting algorithm unknown input estimations state input estimations nonlinear functions Lipschitz conditions estimation error convergence automotive vehicle industry

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Simultaneous State and Parameter Estimation in Induction Motors Using First- and Second-Order Sliding Modes

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2009年第9期56卷 3369-3376页

作者： Rao, Sachit Buss, Martin Utkin, Vadim Systemant India Pvt Ltd Bangalore 560078 Karnataka India Tech Univ Munich Inst Automat Control Engn D-80333 Munich Germany Ohio State Univ Dept Elect Engn Columbus OH 43210 USA

We address the problem of meeting the requirements of controllers for the control of speed of induction motors, but under the constraint of not using speed and flux sensors: the so-called "sensorless" control problem. We offer an observer-based solution and present the design of two observers which provide motor speed, flux, and rotor resistance estimates simultaneously. Both observers, based on the rotor flux model in the stationary reference frame, are designed with inputs that enforce first- (conventional) and second-order sliding modes, respectively, on appropriately chosen switching surfaces. We present experimental results of the estimation procedure to demonstrate that only current and input voltage measurements are needed for accurate speed and flux estimation even in the presence of unknown parameters.

关键词： Adaptation induction motors observers sliding-mode control supertwisting algorithm

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Robust Deadbeat Predictive Current Sensorless Control for Permanent Magnet Synchronous Motor

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IEEE TRANSACTIONS ON POWER ELECTRONICS 2024年第9期39卷 11441-11454页

作者： Xu, Qiangren Fang, Shuhua Southeast Univ Sch Elect Engn Nanjing 210096 Peoples R China

The article proposes an improved robust control scheme for deadbeat predictive current sensorless control. Sensitivity analysis of the current prediction model and position estimation parameters are carried out, and the corresponding robust control scheme is designed. An enhanced supertwisting algorithm sliding-mode observer with smaller jitter and faster response speed is employed to observe back electromotive forces (back EMFs), inductance and flux linkage simultaneously. Consequently, the adverse effects of parameter mismatch on both the back EMFs observer and current prediction are attenuated with only one observer. The proposed strategy exhibits excellent performance under both steady state and dynamic conditions. Experimental results verify the superiority and effectiveness of the proposed strategy.

关键词： Deadbeat predictive current control (DPCC) permanent magnet synchronous motor (PMSM) simultaneous parameters identification supertwisting algorithm Deadbeat predictive current control (DPCC) permanent magnet synchronous motor (PMSM) simultaneous parameters identification supertwisting algorithm

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A Robust Load Frequency Control Scheme for Power Systems Based on Second-Order Sliding Mode and Extended Disturbance Observer

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IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 2018年第7期14卷 3076-3086页

作者： Liao, Kai Xu, Yan Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore

This paper proposes a new robust load frequency control (LFC) scheme for multiarea power systems based on the second-order sliding mode control and an extended disturbance observer. First, a reduced-order model of the power system LFC is derived. In this model, the load variations and net exchange tie-line power deviations are combined as a lumped disturbance which can be estimated by the extended disturbance observer. Second, a novel sliding surface is designed with the new transformed state variables obtained from the estimated disturbance. The system dynamics can be indicated by sliding surface design using the eigenvalue assignment or the optimal sliding manifold technique. The sliding variable is driven to the sliding surface with a second-order sliding mode algorithm named supertwisting algorithm. The stability of the proposed LFC scheme and the extended disturbance observer is proved using Lyapunov method. The merits of the scheme include faster response speed, stronger robustness against disturbances arising from power system parameter errors, and unmodeled dynamics, and the full consideration of tie-line power flow scheduling variations. Finally, numerical simulations verify the effectiveness of the LFC scheme and reveal its advantages over the state of the arts.

关键词： Extended disturbance observer load frequency control (LFC) second-order sliding mode supertwisting algorithm

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Disturbance observer based dead-beat control of multi-input systems with unknown disturbances and bounded inputs using discrete-time higher order sliding mode

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2021年第8期31卷 3310-3329页

作者： Huseinbegovic, Senad Perunicic-Drazenovic, Branislava Veselic, Boban Milosavljevic, Cedomir Univ Sarajevo Fac Elect Engn Sarajevo 71000 Bosnia & Herceg Univ Nis Fac Elect Engn Nish Serbia Univ East Sarajevo Fac Elect Engn Istocno Sarajevo Bosnia & Herceg

This article proposes a new robust dead-beat controller for multivariable systems using multirate sampled data. Applying a discrete-time higher order sliding mode control approach, the proposed dead-beat controller design uses the state-space nominal model (model without disturbances) of the system and its controllability indices to compute the state feedback matrix. The obtained control annihilates the system state in a minimal number of sampling periods. For example, a heuristic procedure for selecting a sampling time is considered in order to keep maximal amplitudes of control inputs within the allowable limits. Since the dead-beat control has poor robustness, a new discrete-time supertwisting disturbance observer is used to suppressed disturbance effects. Stability analysis of the proposed observer has shown that it is suitable for Lipschitz type of disturbances. The sampling period of the disturbance observer is generally smaller than the control sampling period. Properties of the proposed control system are demonstrated in simulation examples.

关键词： dead‐ beat control discrete‐ time sliding mode control disturbance observer‐ based control high‐ order sliding mode control multirate sampled‐ data control supertwisting algorithm

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Application of Higher Order Sliding-Mode Concepts to a Throttle Actuator for Gasoline Engines

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2009年第9期56卷 3322-3329页

作者： Reichhartinger, Markus Horn, Martin Alpen Adria Univ Klagenfurt Fac Tech Sci Inst Smart Syst Technol A-9020 Klagenfurt Austria

In this paper, the control of an electronic throttle valve based on second-order sliding-mode concepts is presented. The so-called twisting algorithm is chosen as the control law. It is shown that the tracking performance for discontinuous reference signals is significantly improved by introducing nonlinear damping by appropriately specifying the sliding surface. The control concept requires the measured plate angle as well as its time derivative, which is computed with the help of a robust exact differentiator. The effectiveness of the proposed concept, consisting of a twisting algorithm for control and supertwisting algorithm for differentiation, is demonstrated by experimental results.

关键词： Electronic throttle control robust exact differentiator sliding-mode control supertwisting algorithm twisting algorithm

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Experimental Evaluation of Observer-based Throttle Valve Control Using Super-Twisting algorithm

Experimental Evaluation of Observer-based Throttle Valve Con...

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European Control Conference (ECC)

作者： Reichhartinger, Markus Golkani, Mohammad Ali Horn, Martin Graz Univ Technol Inst Automat & Control Fac Elect & Informat Engn A-8010 Graz Austria

ISBN: (纸本)9783952426937

In this paper, an electronic throttle valve system is considered. The mathematical model describing the motion of the valve plate is subject to uncertainties and external disturbances. The throttle plate angle is intended to track given reference profiles. A control scheme consisting of an observer and a state controller, which both are based upon the super-twisting technique, is proposed. Effectiveness and superiority of the approach are illustrated in numerical simulation using a comparison with a classical control approach. The presented feedback loop is implemented in an engine control unit. Results obtained through comprehensive tests on an industrial combustion engine test bench are given.

关键词： internal combustion engines motion control observers plates (structures) state feedback valves combustion engine control unit feedback loop industrial combustion engine observer-based throttle valve control state controller supertwisting algorithm valve plate motion Angular velocity Engines Feedback loop Mathematical model Observers Uncertainty Valves

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Implementation of Active Disturbance Rejection Control based on Super-Twisting algorithm on Delta Robot 10

Implementation of Active Disturbance Rejection Control based...

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10th RSI International Conference on Robotics and Mechatronics (ICRoM)

作者： Ardalani, Amir Jazi, Shahram Hadian Malekzadeh, Maryam Univ Isfahan Dept Mech Engn Esfahan Iran

ISBN: (纸本)9781665454520

In this article, a super-twisting algorithmbased ADRC structure is proposed. This structure contains three parts, a super twisting sliding mode controller, an extended state estimator, and an optimal tracking differentiator. This proposed ADRC is employed to control the Delta parallel robot both numerically, in MATLAB, and experimentally. In numerical simulations, the robustness of the proposed ADRC is verified by applying various external disturbances. Both the numerical and experimental results show the ability of the proposed ADRC structure in controlling the Delta robot in the presence of disturbances and uncertainties.

关键词： Active Disturbance Rejection Control supertwisting algorithm Optimal Tracking differentiator Delta Robot

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