Encoderless Five-phase PMa-SynRM Drive System Based on Robust Torque-speed Estimator with Super-twisting Sliding Mode Control

In this paper,a robust torque speed estimator(RTSE)for linear parameter changing(LPC)system is proposed and designed for an encoderless five-phase permanent magnet assisted synchronous reluctance motor(5-phase PMa-SynRM).This estimator is utilized for estimating the rotor speed and the load torque as well as can solve the speed sensor fault problem,as the feedback speed information is obtained directly from the virtual sensor.In addition,this technique is able to enhance the 5-phase PMa-SynRM performance by estimating the load torque for the real time compensation.The stability analysis of the proposed estimator is performed via Schur complement along with Lyapunov analysis.Furthermore,for improving the 5-phase PMa-SynRM performance,five super-twisting sliding mode controllers(ST-SMCs)are employed with providing a robust response without the impacts of high chattering problem.A super-twisting sliding mode speed controller(ST-SMSC)is employed for controlling the PMa-SynRM rotor speed,and four super-twisting sliding mode current controllers(ST-SMCCs)are employed for controlling the 5-phase PMa-SynRM currents.The stability analysis and the experimental results indicate the effectiveness along with feasibility of the proposed RTSE and the ST-SMSC with ST-SMCCs approach for a 750-W 5-phase PMa-SynRM under load disturbance,parameters variations,single open-phase fault,and adjacent two-phase open circuit fault conditions.

Fuzzy super-twisting sliding mode control for municipal wastewater nitrification process

A fuzzy super-twisting algorithm sliding mode controller is developed for the dissolved oxygen concentration in municipal wastewater nitrification process. First, a fuzzy neural network(FNN) model is designed to approach the oxygen dynamics with unmeasurable disturbances, then the established model consists of the nominal system model and the modelling error. Second,based on the FNN model, a super-twisting sliding mode controller is employed to stabilize the nominal system and to suppress the modelling error. Moreover, the stability of the system is investigated and an adaption law is applied to ensure the robustness of the closed-loop system. Finally, the comparison experiments on benchmark simulation model no. 2(BSM2) of wastewater treatment show the advantages of the proposed method in multiple-units oxygen concentration control.

Modified grey wolf optimised adaptive super-twisting sliding mode control of rotary inverted pendulum system

This paper proposes a modified grey wolf optimiser-based adaptive super-twisting sliding mode control algorithm for the trajectory tracking and balancing of the rotary inverted pendulum system.The super-twisting sliding mode algorithm severely alleviates the chattering present in the classical sliding mode control.It provides robustness against model uncertainties and external disturbances with the knowledge of the upper bounds of the uncertainties and disturbances.The gains of the super-twisting sliding mode algorithm are selected through adaptive law.Parameters of the adaption law are tuned using a modified grey wolf optimisation algorithm,a meta-heuristic optimisation technique.Lyapunov stability analysis is carried out to analyse the overall control system stability.The performance of the proposed control algorithm is compared with two other sliding mode control strategies present in the literature,therein showing better performance of the proposed control scheme.

Sliding mode fault tolerant consensus control for multi-agent systems based on super-twisting observer

The fault-tolerant consensus problem for leader-following nonlinear multi-agent systems with actuator faults is mainly investigated.A new super-twisting sliding mode observer is constructed to estimate the velocity and undetectable fault information simultaneously.The time-varying gain is introduced to solve the initial error problem and peak value problem,which makes the observation more accurate and faster.Then,based on the estimated results,an improved sliding mode fault-tolerant consensus control algorithm is designed to compensate the actuator faults.The protocol can guarantee the finite-time consensus control of multi-agent systems and suppress chattering.Finally,the effectiveness and the superiority of the observer and control algorithm are proved by some simulation examples of the multi-aircraft system.

Adaptive state-constrained/model-free iterative sliding mode control for aerial robot trajectory tracking

This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.

Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach

The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.

A Novel Disturbance Observer Based Fixed-Time Sliding Mode Control for Robotic Manipulators With Global Fast Convergence

This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems.Then an adaptive scheme is used and the adaptive FTDO(AFTDO) is developed,so that the priori knowledge of the lumped disturbance is not required.Further,a new non-singular fast terminal sliding mode(NFTSM) surface is designed by using an arctan function,which helps to overcome the singularity problem and enhance the robustness of the system.Based on the estimation of the lumped disturbance by the AFTDO,a fixed-time non-singular fast terminal sliding mode controller(FTNFTSMC)is developed to guarantee the trajectory tracking errors converge to zero within a fixed time.The settling time is independent of the initial state of the system.In addition,the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov method.Finally,the fixed-time NFESM(FTNFTSM) algorithm is validated on a 2-link manipulator and comparisons with other existing sliding mode controllers(SMCs) are performed.The comparative results confirm that the FTNFTSMC has superior control performance.

Adaptive sliding mode control of petrochemical flare combustion process based on radial basis function network

Steam-assisted combustion elevated flares are currently the most widely used type of petrochemical flares.Due to the complex and variable composition of the waste gas they handle,the combustion environment is severely affected by meteorological conditions.Key process parameters such as intake composition,flow rate,and real-time data of post-combustion residues are difficult to measure or exhibit lag in data availability.As a result,the control methods for these flares are limited,leading to poor control effectiveness.To address this issue,this paper proposes an adaptive sliding mode control method based on the radial basis function(RBF)network.Firstly,the operational characteristics of the petrochemical flare combustion process are analyzed,and a control model for the combustion process is established based on carbon dioxide detection.Secondly,an RBF neural network-based unknown function approximator is designed to identify the nonlinear part of the actual operating system.Finally,by combining the control model of the petrochemical flare combustion and designing the RBF sliding mode controller with its adaptive control law,fast and stable control of the flare combustion state is achieved.Simulation results demonstrate that the designed control strategy can achieve tracking control of the petrochemical flare combustion state,and the adaptive law also accomplishes system identification.

Asynchronous Learning-Based Output Feedback Sliding Mode Control for Semi-Markov Jump Systems: A Descriptor Approach

This paper presents an asynchronous output-feed-back control strategy of semi-Markovian systems via sliding mode-based learning technique.Compared with most literature results that require exact prior knowledge of system state and mode information,an asynchronous output-feedback sliding sur-face is adopted in the case of incompletely available state and non-synchronization phenomenon.The holonomic dynamics of the sliding mode are characterized by a descriptor system in which the switching surface is regarded as the fast subsystem and the system dynamics are viewed as the slow subsystem.Based upon the co-occurrence of two subsystems,the sufficient stochastic admissibility criterion of the holonomic dynamics is derived by utilizing the characteristics of cumulative distribution functions.Furthermore,a recursive learning controller is formulated to guarantee the reachability of the sliding manifold and realize the chattering reduction of the asynchronous switching and sliding motion.Finally,the proposed theoretical method is substantia-ted through two numerical simulations with the practical contin-uous stirred tank reactor and F-404 aircraft engine model,respectively.

Fixed-Time Sliding Mode Control With Varying Exponent Coefficient for Modular Reconfigurable Flight Arrays

The modular system can change its physical structure by self-assembly and self-disassembly between modules to dynamically adapt to task and environmental requirements. Recognizing the adaptive capability of modular systems, we introduce a modular reconfigurable flight array(MRFA) to pursue a multifunction aircraft fitting for diverse tasks and requirements,and investigate the attitude control and the control allocation problem by using the modular reconfigurable flight array as a platform. First, considering the variable and irregular topological configuration of the modular array, a center-of-mass-independent flight array dynamics model is proposed to allow control allocation under over-actuated situations. Secondly, in order to meet the stable, fast and accurate attitude tracking performance of the MRFA, a fixed-time convergent sliding mode controller with state-dependent variable exponent coefficients is proposed to ensure fast convergence rate both away from and near the system equilibrium point without encountering the singularity. It is shown that the controller also has fixed-time convergent characteristics even in the presence of external disturbances. Finally,simulation results are provided to demonstrate the effectiveness of the proposed modeling and control strategies.

Control system design for a pressure-tube-type supercritical water-cooled nuclear reactor via a higher order sliding mode method

Nuclear power plants exhibit non-linear and time-variable dynamics.Therefore,designing a control system that sets the reactor power and forces it to follow the desired load is complicated.A supercritical water reactor(SCWR)is a fourth-generation conceptual reactor.In an SCWR,the non-linear dynamics of the reactor require a controller capable of control-ling the nonlinearities.In this study,a pressure-tube-type SCWR was controlled during reactor power maneuvering with a higher order sliding mode,and the reactor outgoing steam temperature and pressure were controlled simultaneously.In an SCWR,the temperature,pressure,and power must be maintained at a setpoint(desired value)during power maneuvering.Reactor point kinetics equations with three groups of delayed neutrons were used in the simulation.Higher-order and classic sliding mode controllers were separately manufactured to control the plant and were compared with the PI controllers speci-fied in previous studies.The controlled parameters were reactor power,steam temperature,and pressure.Notably,for these parameters,the PI controller had certain instabilities in the presence of disturbances.The classic sliding mode controller had a higher accuracy and stability;however its main drawback was the chattering phenomenon.HOSMC was highly accurate and stable and had a small computational cost.In reality,it followed the desired values without oscillations and chattering.

Robust design of sliding mode control for airship trajectory tracking with uncertainty and disturbance estimation

The robotic airship can provide a promising aerostatic platform for many potential applications.These applications require a precise autonomous trajectory tracking control for airship.Airship has a nonlinear and uncertain dynamics.It is prone to wind disturbances that offer a challenge for a trajectory tracking control design.This paper addresses the airship trajectory tracking problem having time varying reference path.A lumped parameter estimation approach under model uncertainties and wind disturbances is opted against distributed parameters.It uses extended Kalman filter(EKF)for uncertainty and disturbance estimation.The estimated parameters are used by sliding mode controller(SMC)for ultimate control of airship trajectory tracking.This comprehensive algorithm,EKF based SMC(ESMC),is used as a robust solution to track airship trajectory.The proposed estimator provides the estimates of wind disturbances as well as model uncertainty due to the mass matrix variations and aerodynamic model inaccuracies.The stability and convergence of the proposed method are investigated using the Lyapunov stability analysis.The simulation results show that the proposed method efficiently tracks the desired trajectory.The method solves the stability,convergence,and chattering problem of SMC under model uncertainties and wind disturbances.

Adaptive Predefined-Time Attitude Tracking Control for Quadrotor Using a Novel Terminal Sliding Mode Approach

This paper proposes an adaptive predefined-time terminal sliding mode control(APTSMC)scheme for attitude tracking control of a quadrotor.To create this,an adaptive predefined-time stability controller based on a terminal sliding mode is constructed.The upper bound of convergence time in the proposed scheme can be adjusted by the explicit parameters during the design process of the controller.In addition,it is proved that the attitude tracking error will converge within two periods of the preset time.These two periods are set between two ranges:From the initial values to the sliding mode surface and from the sliding mode surface to the region near the origin.Furthermore,an adaptive law is adopted to eliminate unknown external disturbances and the effects of the uncertainties in the quadrotor model,so it is unnecessary to require the prior knowledge of the upper bound of the perturbations.Simulation results are produced and comparative case studies are carried out to demonstrate that the proposed scheme has faster convergence speed and smaller tracking errors.

Enhanced Fuzzy Logic Control Model and Sliding Mode Based on Field Oriented Control of Induction Motor

In the context of induction motor control, there are various control strategies used to separately control torque and flux. One common approach is known as Field-Oriented Control (FOC). This technique involves transforming the three-phase currents and voltages into a rotating reference frame, commonly referred to as the “dq” frame. In this frame, the torque/speed and flux components are decoupled, allowing for independent control, by doing so, the motor’s speed can be regulated accurately and maintain a constant flux which is crucial to ensure optimal motor performance and efficiency. The research focused on studying and simulating a field-oriented control system using fuzzy control techniques for an induction motor. The aim was to address the issue of parameter variations, particularly the change in rotor resistance during motor operation, which causes the control system to deviate from the desired direction. This deviation implies to an increase in the magnetic flux value, specifically the flux component on the q-axis. By employing fuzzy logic techniques to regulate flux vector’s components in the dq frame, this problem was successfully resolved, ensuring that the magnetic flux value remains within the nominal limits. To enhance the control system’s performance, response speed, and efficiency of the motor, sliding mode controllers were implemented to regulate the current in the inner loop. The simulation results demonstrated the proficiency of the proposed methodology.

Landslide distribution and sliding mode control along the Anninghe fault zone at the eastern edge of the Tibetan Plateau

Tibetan Plateau is known as the roof of the world.Due to the continuous uplift of the Tibetan Plateau,many active fault zones are present.These active fault zones such as the Anninghe fault zone have a significant influence on the formation of special geomorphology and the distribution of geological hazards at the eastern edge of the Tibetan Plateau.The Anninghe fault zone is a key part of the Y-shaped fault pattern in the Sichuan-Yunnan block of China.In this paper,high-resolution topographic data,multitemporal remote sensing images,numerical calculations,seismic records,and comprehensive field investigations were employed to study the landslide distribution along the active part of the Anninghe.The influence of active faults on the lithology,rock mass structures and slope stress fields were also studied.The results show that the faults within the Anninghe fault zone have damaged the structure and integrity of the slope rock mass,reduced the mechanical strength of the rock mass and controlled the slope failure modes.The faults have also controlled the stress field,the distribution of the plastic strain zone and the maximum shear strain zone of the slope,thus have promoted the formation and evolution of landslides.We find that the studied landslides are linearly distributed along the Anninghe fault zone,and more than 80%of these landslides are within 2–3 km of the fault rupture zone.Moreover,the Anninghe fault zone provides abundant substance for landslides or debris flows.This paper presents four types of sliding mode control of the Anninghe fault zone,e.g.,constituting the whole landslide body,controlling the lateral boundary of the landslide,controlling the crown of the landslide,and constituting the toe of the landslide.The results presented merit close attention as a valuable reference source for local infrastructure planning and engineering projects.

ROBUST ADAPTIVE SLIDING MODE CONTROL FOR NONLINEAR UNCERTAIN NEUTRAL DELAY SYSTEM

Robust stabilization for a class of nonlinear uncertain neutral system with time-varying delay is investigated. By applying the Lyapunov stability theorem, an adaptive sliding mode controller （ADSMC） is developed.Based on the sliding mode control technique, the controller can drive the system into a pre-specified sliding hyperplane to obtain the desired dynamic performance. Once the system dynamics reaches the sliding plane, the control system is insensitive to uncertainty. The adaptive technique can overcome the unknown upper bound of uncertainty so that the reaching condition can be satisfied. Furthermore, the controller does not include any delayed state,so such an ADSMC is memoryless. Finally, a numerical example is given to verify the validity of the developed memoryless ADSMC and the globally asymptotic stability is guaranteed for the control scheme.

基于改进型Super-twisting的双馈感应发电机直接功率控制

为提高双馈感应发电机(DFIG)直接功率控制的鲁棒性和抗干扰能力,提出一种改进型超螺旋滑模(STSMC)的直接功率控制(DPC)。首先,建立参数摄动下的DFIG最大功率捕获模型和定子磁场定向的双馈感应发电机模型;然后,将非奇异快速终端滑模面(NFTSM)与一种改进型超螺旋(Super-twisting)优化算法结合,设计DFIG直接功率控制器(IST-NFTSMC)。其中所设计的非奇异滑模面能有效避免传统滑模控制(SMC)的奇异现象,且改进超螺旋控制律能有效削弱NFTSMC抖振,提高功率控制精度;最后,通过仿真和实验,与PI控制和传统SMC控制相比,该控制能削弱DFIG功率与电流抖振问题,加快其收敛速度,提高DFIG直接功率控制稳态精度。

基于Super-Twisting滑模S面的无人机路径跟踪控制

针对小型固定翼无人机在执行任务时跟踪精度低以及容易受外界风影响的问题,设计基于Super-Twisting滑模S面(STSM S-Plane)的路径跟踪控制器,同时采用内外双环控制模式。外环即速度环采用Super-Twisting滑模控制,内环即姿态环采用S面控制。考虑到S面控制求导易导致积分爆炸的问题引入了二阶微分器,并对外界风组成进行建模研究。最后通过空间特殊曲线来验证所设计算法的控制性能。仿真结果表明,所设计的算法可以实现固定翼无人机对期望路径的精确跟踪,并具有良好的鲁棒性和抗干扰性能。

Sliding Mode Controller Design for a Class of Nonlinear System

A sliding mode control methodology is presented for nonlinear systems represented by input output models, which does not depend on the state variables. There are two parts in the controller design, one is the sliding controller design and the other is the design of linear feedback system. Simulation results demonstrate the validity of the control scheme.

Time-varying Sliding Mode Controls in Rigid Spacecraft Attitude Tracking

To solve the problem of attitude tracking of a rigid spacecraft with an either known or measurable desired attitude trajectory, three types of time-varying sliding mode controls are introduced under consideration of control input constraints. The sliding surfaces of the three types initially pass arbitrary initial values of the system, and then shift or rotate to reach predetermined ones. This way, the system trajectories are always on the sliding surfaces, and the system work is guaranteed to have robustness against parameter uncertainty and external disturbances all the time. The controller parameters are optimized by means of genetic algorithm to minimize the index consisting of the weighted index of squared error （ISE） of the system and the weighted penalty term of violation of control input constraint. The stability is verified with Lyapunov method. Compared with the conventional sliding mode control, simulation results show the proposed algorithm having better robustness against inertia matrix uncertainty and external disturbance torques.