Adaptive Super-twisting Control Research Articles

Adaptive super-twisting control of floating wind turbines with collective blade pitch control

Abstract This paper proposes an adaptive super-twisting controller for floating wind turbine based on collective blade pitch control. This adaptive second order sliding mode control scheme being efficient for systems with uncertainties and external perturbations, which is compared with the traditional gain scheduled PI (GSPI) controller. It is shown that this kind of controller requires reduced knowledge about the system (only the relative degree) and the gain tuning effort is also reduced given that the operating domain is large versus GSPI controller. Simulation results show high performances of the proposed controller for rotor speed regulation and reduction of platform oscillations in Region 3 of the floating wind turbine.

Design and experiment of adaptive modified super-twisting control with a nonlinear sliding surface for a quadrotor helicopter

Quadrotor unmanned aerial vehicle is a nonlinear system of 6-degree-of-freedom motion. In order to handle the nonlinearity that causes undesirable behavior, robustness of flight control has been studied. In this work, we consider the combination of higher order sliding mode control and nonlinear time-varying sliding surface for robustness and accuracy in tracking. An adaptive super-twisting control, a second-order sliding mode control, is utilized to compensate for the uncertainty and perturbation of a quadrotor system. A time-varying sliding surface is designed with a nonlinear function to provide varying properties of closed-loop dynamics and to improve control performance with energy consumption reduction. The proposed control system performance including energy consumption was compared among nonlinear adaptive super-twisting control algorithm, linear adaptive super-twisting control algorithm, and linear super twisting controllers, without and under wind disturbance. The robustness and effectiveness of the proposed control system are demonstrated by several times simulation and experiment using a quadrotor helicopter test bed.

Differential Steering Based Yaw Stabilization Using ISMC for Independently Actuated Electric Vehicles

Differential drive assistance steering (DDAS) is an emerging assisted steering mechanism in in-wheel-motor driven (IWMD) electric vehicles, yielded by the differential moment of the front tires in the steering system. DDAS can steer the front wheels when there is no steering power from the steering motor, and thus can be used as a redundant steering mechanism. To realize the yaw control when the active front steering entirely breaks down and guarantee the transient control performance therein, this paper proposes an integral sliding mode control (ISMC) approach for IWMD electric vehicles steered by DDAS. Two contributions are made in this paper: 1) An improved disturbance observer based ISMC strategy is designed to cope with the unknown mismatched disturbances, and the composite nonlinear feedback technique is employed to design the nominal part of the controller to restrain overshoots and remove steady-state errors considering the tire force saturations; 2) An adaptive super-twisting control approach is proposed to deal with the disturbances with unknown boundaries using a continuous controller while eliminating the chattering effect. The system stability and robustness are proved via Lyapunov approach. CarSim-Simulink simulation has verified the effectiveness of the proposed control approach in the case of the steering fault.

Adaptive Super Twisting control design for manufactured diesel engine air path

In this paper, we design a higher order sliding mode controller for the purpose of regulating the diesel engine air path. The proposed controller is based upon the Super Twisting control algorithm (STA) which is well known for its ability to reduce the so-called chattering phenomenon which affects the classical sliding mode controllers. The proposed controller is an Adaptive Super Twisting (ASTA) controller which incorporates an adaptive mechanism for tuning the control gains. This mechanism allows the controller to deal with unknown bounds on the uncertainties and the actuator faults that may affect the engine. Theoretical conditions on the control gains are provided in order to ensure the convergence of the ASTA controller. The simulations on a recently validated experimental air path diesel engine model show good results for actuator failures conditions even in the presence of uncertainties on model parameters.

Modeling of Mobile Manipulator and Adaptive Super-Twisting Backstepping Control

Modeling of Mobile Manipulator and Adaptive Super-Twisting Backstepping Control

Robust Adaptive Control of Pulse-width Modulated Rectifiers Based on Adaptive Super-twisting Sliding-mode and State Feedback Controllers

—This article proposes a new robust adaptive hybrid controller for three-phase pulse-width modulated rectifiers to improve control performance. This hybridization is implemented by combining the second-order sliding mode with the adaptive gain super-twisting control law in the DC bus voltage control loop and state feedback adaptive control in the d-q-axis current control loops. The control objectives are fourfold: (1) driving the DC bus voltage to a reference signal without using a priori knowledge of the plant parameters, (2) forcing the d-q-axis current errors to zero, (3) assuring a satisfactory power factor correction in relation to the AC source, and (4) eliminating the chattering effect. In the closed-loop control system, three-phase source currents and the DC bus voltage are supposed to be available for feedback. As a result, no a priori knowledge of the plant parameters is necessary in the design of the proposed controller. In addition, the proposed controller does not have the disadvantages of singularity, over-parameterization, and chattering phenomenon. Results of experimental studies prove that the proposed control system guarantees the tracking of reference signals with high performance despite all the parameter and external disturbance uncertainties.

Lyapunov design of adaptive super-twisting controller applied to a pneumatic actuator

AbstractA novel super-twisting adaptive sliding mode control law is derived using Lyapunov function technique. The both drift uncertain term and multiplicative perturbation are assumed to be bounded with unknown boundaries. The proposed approach consists in using dynamically adapted control gains that ensure the establishment, in a finite time, of a real second order sliding mode. The efficacy of the proposed super-twisting control algorithm is evaluated through its application to position control of an electropneumatic actuator.