Variable Gain Super-Twisting Control of GMAW Process for Pipeline Welding

2015 ◽  
Vol 137 (7) ◽  
Author(s):  
Manas Kr. Bera ◽  
Bijnan Bandyopadhyay ◽  
A. K. Paul
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Gas Metal Arc Welding ◽  
Control Effort ◽  
Variable Gain ◽  
Output Tracking ◽  
Pipeline Welding ◽  
The Stability ◽  
Twisting Control ◽  
Super Twisting Control

Quality control is the key issue that needs to be addressed in any gas metal arc welding (GMAW) system, especially in robotic pipeline welding system. This paper explores a second-order sliding mode control (SMC) strategy—a variable gain super-twisting control, to maximize the productivity, consistency in welding quality. This is achieved by the robust finite time output tracking of GMAW system. A nonlinear multi-input multi-output (MIMO) model of GMAW system has been considered here for the design of variable gain super-twisting (VGST) controller by which complete rejection of the bounded uncertainties/disturbances is possible and the adaptive characteristic of its gains help to use the control effort effectively. The stability of internal dynamics of the system is studied to establish the feasibility of solving the robust finite time output tracking problem. The stability of the overall system has been analyzed using Lyapunov stability criterion. The performance of the controller is demonstrated using the model of the system emulating the realistic conditions of operation. The simulation results are presented to illustrate the efficacy of the controller.

scholarly journals Finite-Time Second-Order Sliding Mode Controllers for Spacecraft Attitude Tracking

2013 ◽  
Vol 2013 ◽  
pp. 1-12 ◽  
Author(s):  
Chutiphon Pukdeboon
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Second Order ◽  
Disturbance Attenuation ◽  
Spacecraft Attitude ◽  
Control Laws ◽  
Attitude Tracking ◽  
Twisting Control ◽  
Super Twisting Control ◽  
Second Order Sliding Mode

The attitude tracking control problem of a spacecraft nonlinear system with external disturbances and inertia uncertainties is studied. Two robust attitude tracking controllers based on finite-time second-order sliding mode control schemes are proposed to solve this problem. For the first controller, smooth super twisting control is applied to quaternion-based spacecraft-attitude-tracking maneuvers. The second controller is developed by adding linear correction terms to the first super twisting control algorithm in order to improve the dynamic performance of the closed-loop system. Both controllers are continuous and, therefore, chattering free. The concepts of a strong Lyapunov function are employed to ensure a finite-time convergence property of the proposed controllers. Theoretical analysis shows that the resulting control laws have strong robustness and disturbance attenuation ability. Numerical simulations are also given to demonstrate the performance of the proposed control laws.

Fractional-Order Variable-Gain Super-Twisting Control With Application to Wafer Stages of Photolithography Systems

2020 ◽  
Author(s):  
Zhian Kuang ◽  
Liting Sun ◽  
Huijun Gao ◽  
Masayoshi Tomizuka
Keyword(s):  
Fractional Order ◽  
Sliding Mode ◽  
Response Speed ◽  
Tracking Performance ◽  
Sliding Surface ◽  
Variable Gain ◽  
Equivalent Control ◽  
Order Variable ◽  
Twisting Control ◽  
Super Twisting Control

Abstract In this paper, a novel fractional-order variable-gain super-twisting control (FVSTC) scheme is proposed and applied to improve the tracking performance of wafer stages in the photolithography systems. The FVSTC overcomes the drawbacks of the super-twisting control (STC) such as slow response speed and incomplete compensation to disturbances. First, to improve the dynamics of the states on the sliding surface, a fractional-order sliding surface is designed. Moreover, to improve the dynamics of the sliding mode variable, an equivalent-control-based method is utilized, and a switching controller based on a variable-gain super-twisting algorithm is deployed. Via such designed schemes, the proposed controller is robust against external disturbances and model uncertainties. Stability proof of the closed-loop system is provided. Numerical simulations to track a sinusoidal signal and experiments on a wafer stage testbed are conducted. The results show that the proposed FVSTC scheme can achieve much better tracking performance than conventional methods.

scholarly journals Finite-time sliding mode and super-twisting control of fighter aircraft

2018 ◽  
Vol 82-83 ◽  
pp. 487-498 ◽  
Author(s):  
Kaushik Raj ◽  
Venkatesan Muthukumar ◽  
Sahjendra N. Singh ◽  
Keum W. Lee
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Fighter Aircraft ◽  
Twisting Control ◽  
Super Twisting Control

scholarly journals Super-twisting Control of Magnetic Levitation System

2020 ◽  
Vol 32 ◽  
pp. 01004
Author(s):  
Rupak Rokade ◽  
Deepti Khimani
Keyword(s):  
Sliding Mode Control ◽  
Magnetic Levitation ◽  
Sliding Mode ◽  
Second Order ◽  
Mode Control ◽  
Levitation System ◽  
Magnetic Levitation System ◽  
Twisting Control ◽  
Super Twisting Control ◽  
Second Order Sliding Mode

This article presents the implementation results of second order sliding mode control (SOSM) for magnetic levitation system. In practical systems, especially when the actuators are electro-mechanical, the conventional (first order) sliding mode control can not be used effectively as it exhibits chattering, which is highly undesirable. Therefore, for such systems, sliding mode control of higher order can be a suitable choice as the reduce the chattering significantly. In this article the super-twisting control, which isa second order sliding mode control, is designed and implemented for the experimental setup of Maglev system, Model 730 developed by ECP systems.

A New Class of Uniform Continuous Higher-Order Sliding Mode Controllers

2019 ◽  
Vol 142 (1) ◽  
Author(s):  
Shyam Kamal ◽  
P. Ramesh Kumar ◽  
Asif Chalanga ◽  
Jitendra Kumar Goyal ◽  
Bijnan Bandyopadhyay ◽  
...  
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Initial Conditions ◽  
Higher Order ◽  
Continuous Control ◽  
Free System ◽  
New Class ◽  
Finite Time Convergence ◽  
Higher Derivatives ◽  
Twisting Control

Abstract This paper proposes a new class of uniform continuous higher-order sliding mode algorithm (UCHOSMA) for the arbitrary relative degree systems. The proposed methodology is a combination of two controllers where one of the components is a uniform super-twisting control which acts as the disturbance compensator and the second part gives the uniform finite time convergence for the disturbance free system. This algorithm provides uniform finite time convergence of the output and its higher derivatives using an absolutely continuous control signal and thus alleviating the chattering phenomenon. The attractive feature of the proposed controller is that irrespective of the different initial conditions, the control is able to bring the states of the system to the equilibrium point uniformly in finite time. The effectiveness of the proposed controller has been demonstrated with both simulation and experimental results.

scholarly journals Finite-time integral sliding mode control for chaotic permanent magnet synchronous motor systems

2017 ◽  
Vol 66 (2) ◽  
pp. 229-239 ◽  
Author(s):  
Abdelilah Chibani ◽  
Bachir Daaou ◽  
Abdelmadjid Gouichiche ◽  
Ahmed Safa ◽  
Youcef Messlem
Keyword(s):  
Sliding Mode Control ◽  
Permanent Magnet ◽  
Finite Time ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
Tracking Error ◽  
Synchronous Motor ◽  
Mode Control ◽  
Time Integral ◽  
The Stability

AbstractIn this paper, an integral finite-time sliding mode control scheme is presented for controlling a chaotic permanent magnet synchronous motor (PMSM). The controller can stabilize the system output tracking error to zero in a finite time. Using Lyapunov’s stability theory, the stability of the proposed scheme is verified. Numerical simulation results are presented to present the effectiveness of the proposed approach.

scholarly journals Finite Time Controller for Point Stabilization of a Spherical Underwater Roving Robot

2016 ◽  
Vol 2016 ◽  
pp. 1-13
Author(s):  
Zhimin Liu ◽  
Hanxu Sun ◽  
Yansheng Li ◽  
Qingxuan Jia ◽  
Ming Chu
Keyword(s):  
Finite Time ◽  
Cfd Simulation ◽  
Dimensional Space ◽  
Convergence Time ◽  
Hydrodynamic Characteristics ◽  
Control Effort ◽  
Physical Prototype ◽  
Simulation And Experiment ◽  
The Stability ◽  
Point Stabilization

The finite time controller is proposed to solve the point stabilization problem for a novel underwater spherical roving robot (BYSQ-3) in two-dimensional space. The finite time design scheme is a new method; the main advantage of this control scheme is that it can steer the robot to the origin in fast converging times without excessive control effort. Firstly, the physical prototype of BYSQ-3 is introduced and the equations describing the kinematics and dynamics of BYSQ-3 are established. Secondly, the finite time controller is constructed based on the backstepping method; the explicit form of the finite time controller is more concise compared with the other finite time controllers; there is no virtual input in the design process and the stability analysis is simple; the designed controller is easy for engineering implementation. Thirdly, the hydrodynamic characteristics is analyzed by CFD simulation; the simulation and experiment results are presented to validate the shorter convergence time and better stability character of the controller.

A fractional super-twisting control of electrically driven mechanical systems

2019 ◽  
Vol 42 (3) ◽  
pp. 485-492 ◽  
Author(s):  
Aldo Jonathan Muñoz-Vázquez ◽  
Juan Diego Sánchez-Torres ◽  
Vicente Parra-Vega ◽  
Anand Sánchez-Orta ◽  
Fernando Martínez-Reyes
Keyword(s):  
Structural Modification ◽  
Sliding Mode ◽  
Sliding Modes ◽  
Integer Order ◽  
Smooth Effects ◽  
Twisting Control ◽  
Strong Differentiability ◽  
Alternative Control Methods ◽  
Adequate Design ◽  
Super Twisting Control

The Super Twisting Control Algorithm (STA) constitutes a powerful and robust technique for control and observation problems. The structure of the STA allows inducing second-order sliding modes, such that the sliding variable and its derivative remain at zero after some finite time. However, the STA requires the strong differentiability of the sliding variable and the weak differentiability of disturbances. Thus, the sliding variable should become from an adequate design, ensuring its strong differentiability. Nonetheless, in the more general case of not necessarily integer-order differentiable disturbances, a typical case in electromechanical systems due to non-smooth effects, alternative control methods need to be considered. For that reason, this paper proposes a structural modification of the STA, allowing the integral of the discontinuous function to assume a fractional order to compensate not necessarily integer-order differentiable disturbances. An experimental assessment is conducted, and comparisons to other sliding mode based controllers are presented to demonstrate the reliability of the proposed method.

Position and attitude tracking of uncertain quadrotor unmanned aerial vehicles based on non-singular terminal super-twisting algorithm

2019 ◽  
Vol 234 (3) ◽  
pp. 396-408
Author(s):  
Walid Alqaisi ◽  
Yassine Kali ◽  
Jawhar Ghommam ◽  
Maarouf Saad ◽  
Vahé Nerguizian
Keyword(s):  
Sliding Mode ◽  
Design Procedure ◽  
Lyapunov Theory ◽  
Effective Control ◽  
Attitude Tracking ◽  
Control Scheme ◽  
The Stability ◽  
Terminal Sliding Surface ◽  
Twisting Algorithm ◽  
Twisting Control

This paper proposes an improved non-singular terminal super-twisting control for the problem of position and attitude tracking of quadrotor systems suffering from uncertainties and disturbances. The super-twisting algorithm is a second-order sliding mode known to be a very effective control used to provide high precision and less chattering for uncertain nonlinear electromechanical systems. The proposed method is based on a non-singular terminal sliding surface with new exponent that solves the problem of singularity. The design procedure and the stability analysis of the closed-loop system using Lyapunov theory are detailed for the considered system. Finally, the proposed control scheme is tested in simulations and by experiments on the parrot-rolling spider quadrotor. Moreover, a comparison is made with the standard super-twisting algorithm in the simulation part. The results obtained show adequate performance in trajectory tracking and chattering reduction.

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