scholarly journals Finite-Time Current Tracking in Boost Converters by Using a Saturated Super-Twisting Algorithm

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-16
Author(s):  
Juan-Eduardo Velázquez-Velázquez ◽  
Rosalba Galván-Guerra ◽  
José-Antonio Ortega-Pérez ◽  
Yair Lozano-Hernández ◽  
Raúl Villafuerte-Segura
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Tracking Error ◽  
Power Converter ◽  
Boost Converter ◽  
Small Sample ◽  
Control Signal ◽  
Bounded Control ◽  
Boost Converters ◽  
Unknown Load

The power converters are widely used in several industrial applications where it is necessary to obtain from a fixed voltage another one higher or lower than the original. In this paper, we focus on the DC-DC (direct current) boost converters, where to guarantee the desired voltage, an internal current tracking loop is usually used. However, this tracking cannot be assured in the presence of unknown load changes and external perturbations when traditional controller strategies are implemented. In this paper, an advanced control strategy is proposed to ensure the current tracking using a saturated super-twisting controller on the power converter. The finite-time current tracking of a DC-DC boost converter is assured in the presence of bounded Lipschitz perturbations composed by unknown load changes and exogenous signals. The proposed approach generates a continuous bounded control signal applied to the converter by using a sigma-delta modulator Σ Δ M . The controller gains are tuned to obtain finite-time stabilization of the tracking error, while the control signal remains bounded. To illustrate the effectiveness of the proposed results, the controller is applied to a physical boost converter using the hardware implemented Σ Δ M and an STM32 Discovery development card. Besides, the controller is compared with a first-order sliding mode controller showing that for small sample times, the energy of the error signal is reduced.

Smooth second-order nonsingular terminal sliding mode control for reusable launch vehicles

2014 ◽  
Vol 7 (1) ◽  
pp. 95-110 ◽  
Author(s):  
Shaobo Ni ◽  
Jiayuan Shan
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Tracking Error ◽  
Second Order ◽  
Convergence Time ◽  
Control Input ◽  
Terminal Sliding Mode ◽  
Content Type ◽  
Nonsingular Terminal Sliding Mode ◽  
Attitude Tracking

Purpose – The purpose of this paper is to present a sliding mode attitude controller for reusable launch vehicle (RLV) which is nonlinear, coupling, and includes uncertain parameters and external disturbances. Design/methodology/approach – A smooth second-order nonsingular terminal sliding mode (NTSM) controller is proposed for RLV in reentry phase. First, a NTSM manifold is proposed for finite-time convergence. Then a smooth second sliding mode controller is designed to establish the sliding mode. An observer is utilized to estimate the lumped disturbance and the estimation result is used for feedforward compensation in the controller. Findings – It is mathematically proved that the proposed sliding mode technique makes the attitude tracking errors converge to zero in finite time and the convergence time is estimated. Simulations are made for RLV through the assumption that aerodynamic parameters and atmospheric density are perturbed. Simulation results demonstrate that the proposed control strategy is effective, leading to promising performance and robustness. Originality/value – By the proposed controller, the second-order sliding mode is established. The attitude tracking error converges to zero in a finite time. Meanwhile, the chattering is alleviated and a smooth control input is obtained.

Wavelet neural network-based H∞trajectory tracking for robot manipulators using fast terminal sliding mode control

Robotica ◽  
2016 ◽  
Vol 35 (7) ◽  
pp. 1488-1503 ◽  
Author(s):  
Vikas Panwar
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Sliding Mode ◽  
Tracking Error ◽  
Tracking Performance ◽  
Robot Dynamics ◽  
Terminal Sliding Mode Control ◽  
Sliding Surface ◽  
Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode

SUMMARYThis paper focuses on fast terminal sliding mode control (FTSMC) of robot manipulators using wavelet neural networks (WNN) with guaranteed H∞tracking performance. The FTSMC for trajectory tracking is employed to drive the tracking error of the system to converge to an equilibrium point in finite time. The tracking error arrives at the sliding surface in finite time and then converges to zero in finite time along the sliding surface. To deal with the case of uncertain and unknown robot dynamics, a WNN is proposed to fully compensate the robot dynamics. The online tuning algorithms for the WNN parameters are derived using Lyapunov approach. To attenuate the effect of approximation errors to a prescribed level, H∞tracking performance is proposed. It is shown that the proposed WNN is able to learn the system dynamics with guaranteed H∞tracking performance and finite time convergence for trajectory tracking. Finally, the simulation results are performed on a 3D-Microbot manipulator to show the effectiveness of the controller.

scholarly journals Design of Adaptive Sliding Mode Controllers for Perturbed Nonlinear Systems with Partial Unmeasurable States and State Constraints

2021 ◽  
Author(s):  
Chih-Chiang Cheng ◽  
Ting-Yu Lin ◽  
Yu-Kuo Li
Keyword(s):  
Nonlinear Systems ◽  
Finite Time ◽  
State Constraints ◽  
Sliding Mode ◽  
Tracking Error ◽  
Estimation Errors ◽  
Adaptive Sliding Mode ◽  
Adaptive Mechanisms ◽  
Approach Zero ◽  
Perturbation Estimation

Abstract A sliding mode control (SMC) strategy is proposed in this paper for a class of perturbed nonlinear systems with unmeasurable states and state constraints to deal with the state tracking problems. First of all, a partial states observer is designed for solving the problems due to unmeasurable states. The estimation errors will approach zero in a finite time. Secondly, based on a designed barrier Lyapunov function, one designs the sliding surface function and an adaptive sliding mode tracking controller to ensure that the states have the ability to track the desired signals. Moreover, the tracking error is capable of converging to zero in a finite time without violating the given state's constraints. Perturbation estimator and adaptive mechanisms are also utilized so that there is no need to know the upper bounds of perturbations and perturbation estimation errors. Finally, a numerical example is provided to demonstrate the feasibility of the proposed control strategy.

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.

On a novel equivalent control-based adaptive sliding mode approach for autopilot design of BTT missiles

2016 ◽  
Vol 40 (2) ◽  
pp. 578-590 ◽  
Author(s):  
Zongyi Guo
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Tracking Error ◽  
Control Technique ◽  
Adaptive Sliding Mode Control ◽  
Sliding Surface ◽  
Adaptive Sliding Mode ◽  
Equivalent Control ◽  
Btt Missile

This paper presents a novel equivalent control-based adaptive sliding mode control (EASMC) approach for designing the autopilot of a bank-to-turn (BTT) missile under model uncertainties and external disturbances. The sliding surface is constructed with a tracking error between the real attitude angle and the reference command. The equivalent control technique works as a mechanism for the gains over-bounded by uncertainties and this information is implemented in the adaption progress. The method guarantees that the sliding surface reaches zero in finite time and the error tracks the command value asymptotically. The advantage of this method is that the gains will be adapted to counteract uncertainties and enable the control deflection magnitude to be reduced to the minimum value, keeping the property of a finite-time convergence. The skill in choosing the gains is also given in this paper. Simulation results demonstrate that the approach proposed is able to improve the dynamic performance and robustness of a BTT missile system.

scholarly journals Finite-Time Synchronization Between Two Different Chaotic Systems by Adaptive Sliding Mode Control

2021 ◽  
Vol 7 ◽  
Author(s):  
Nipaporn Tino ◽  
Piyapong Niamsup
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Chaotic Systems ◽  
Control Method ◽  
Sliding Mode ◽  
Tracking Error ◽  
Adaptive Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Different Chaotic Systems

The finite-time chaos synchronization between two different chaotic systems with uncertain parameters and external disturbances is studied. A new and improved adaptive fast nonsingular terminal sliding mode control (ANFTSM) has been designed for a fast rate convergence of tracking error to zero in finite time. The effectiveness of the proposed control method is shown in simulation results.

scholarly journals Design and Implementation of Finite Time Nonsingular Fast Terminal Sliding Mode Control for a Novel High Step-Up DC-DC Converter

Energies ◽  
2019 ◽  
Vol 12 (9) ◽  
pp. 1716
Author(s):  
Yicheng Liu ◽  
Jieping Wang ◽  
Haiyan Tu
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Boost Converter ◽  
Maximum Efficiency ◽  
Storage Capacitor ◽  
System Response ◽  
Terminal Sliding Mode ◽  
Voltage Multiplier ◽  
Fast Terminal Sliding Mode ◽  
Resonant Inductor

In this paper, a new, high step-up quadratic boost converter with high conversion efficiency is discussed. A storage capacitor and resonant inductor are connected in series with a clamp capacitor through a diode. These compose a voltage multiplier cell, which is applied on the switch of the quadratic boost converter. The clamp capacitor can protect the switch from a voltage spike and absorb energy when the switch turns off; then, the storage capacitor and resonant inductor are charged by the energy stored in the clamped capacitor to increase the voltage transfer gain. In addition, the voltage multiplier cell can also reduce the voltage stresses of power devices. Then, a 16 V input, 200 V output prototype with 80 W nominal power is built up and tested. Furthermore, a finite time fast terminal sliding mode (NFTSM) control is proposed, with constant frequency for the voltageFundamental Building B213:tracking control of this converter. The new NFTSM is obtained by introducing an adjustable nonlinear term into fast terminal sliding mode (FTSM) control, and a singularity problem is avoided. The experiment illustrates that the maximum efficiency of the proposed converter achieves 95% at D = 0.25 , V o = 150 V. The voltage stress is reduced to half of the corresponding component of the basic boost converter at the same voltage level. Moreover, the proposed NFTSM controller can track the reference signal, and provide a short settling time of about 48 ms with no overshoot, and the system response exhibits strong robustness against 11.7% input voltage disturbance and 30% load variation.

scholarly journals Finite-Time Tracking Control for a Class of MIMO Nonlinear Systems with Unknown Asymmetric Saturations

2017 ◽  
Vol 2017 ◽  
pp. 1-10
Author(s):  
Fu Mingyu ◽  
Xu Yujie
Keyword(s):  
Nonlinear Systems ◽  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Tracking Error ◽  
Input Saturation ◽  
Approximation Error ◽  
Time Interval ◽  
Mimo Nonlinear Systems

This paper addresses the problem of finite-time tracking control for multiple-input and multiple-output (MIMO) nonlinear systems with asymmetric saturations. A systematic approach is proposed to eliminate the effects of unmeasured external disturbances and unknown asymmetric saturations. In the proposed control strategy, a terminal sliding mode disturbance observer is provided to estimate the augmented disturbance (which contains the unknown asymmetric input saturation and external disturbance). The approximation error of the augmented disturbance can converge to zero in a fixed finite-time interval. Furthermore, a novel finite-time tracking control algorithm is developed to guarantee fast convergence of the tracking error. Compared with the existing results on finite-time tracking control, the chattering problem and the input saturation problem can be solved in a unified framework. Several simulations are given to demonstrate the effectiveness of the proposed approach.

scholarly journals Backstepping Terminal Sliding Mode MPPT Controller for Photovoltaic Systems

2021 ◽  
Vol 11 (2) ◽  
pp. 7060-7067
Author(s):  
K. Behih ◽  
H. Attoui
Keyword(s):  
Sliding Mode ◽  
Tracking Error ◽  
Boost Converter ◽  
Maximum Power ◽  
Solar Array ◽  
Atmospheric Conditions ◽  
Pv System ◽  
Terminal Sliding Mode ◽  
Point Tracking ◽  
Mppt Controller

In this paper, a new Maximum Power Point Tracking (MPPT) control for a Photovoltaic (PV) system is developed based on both backstepping and terminal sliding mode approaches. This system is composed of a solar array, a DC/DC boost converter, an MPPT controller, and an output load. The Backstepping Terminal Sliding Mode Controller (BTSMC) is used via a DC-DC boost converter to achieve maximum power output. The stability of the closed-loop system is guaranteed using the Lyapunov method. This novel approach provides good transient response, low tracking error, and very fast reaction against solar radiation and PV cell temperature variations. Furthermore, chattering, which constitutes the main disadvantage of the classic sliding mode technique is eliminated. To show the effectiveness and robustness of the proposed control, different simulations under different atmospheric conditions are conducted in Matlab/Simulink.

A Novel Nonlinear Disturbance Observer embedded Second-Order Finite Time Tracking-based Controller for Robotic Manipulators

2021 ◽  
pp. 1-27
Author(s):  
Bin Ren ◽  
Yao Wang ◽  
Jiayu Chen ◽  
Silu Chen
Keyword(s):  
Finite Time ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Tracking Error ◽  
Robotic Manipulators ◽  
Second Order ◽  
Terminal Sliding Mode ◽  
Nonlinear Disturbance Observer ◽  
Nonlinear Disturbance ◽  
Nonlinear Mechanical Systems

Abstract Robotic manipulators are complex and dynamic nonlinear mechanical systems subject to numerous uncertainties, such as payload variations, frictions, and unmodeled dynamics. To mitigate the uncertainty caused by these disturbances and minimize the tracking errors of the controllers, this study proposed a finite time tracking-based controller (FTC) that embeds a nonlinear disturbance observer (NDO) and a second-order sliding mode modifier (SOSM). The NDO was incorporated to compensate for the system's global bounded uncertainty and the SOSM employed a robust nonsingular terminal sliding-mode modifier to stabilize the controller. The theoretical analysis showed that the tracking error could quickly converge in finite time. Simulation on a typical robotics manipulator demonstrated the practical appeal of the proposed scheme.

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