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.

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.

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.

Implementation of Super-Twisting Control: Super-Twisting and Higher Order Sliding-Mode Observer-Based Approaches

2016 ◽  
Vol 63 (6) ◽  
pp. 3677-3685 ◽  
Author(s):  
Asif Chalanga ◽  
Shyam Kamal ◽  
Leonid M. Fridman ◽  
Bijnan Bandyopadhyay ◽  
Jaime A. Moreno
Keyword(s):  
Sliding Mode ◽  
Higher Order ◽  
Sliding Mode Observer ◽  
Twisting Control ◽  
Super Twisting Control

scholarly journals Application of Higher Order Sliding Mode Observer and Super Twisting Observer based Super Twisting Control in Hydroelectric Power Plants

2019 ◽  
Vol 8 (2) ◽  
pp. 3649-3653
Keyword(s):  
Power Plants ◽  
Sliding Mode ◽  
Speed Control ◽  
Higher Order ◽  
Sliding Mode Observer ◽  
Hydroelectric Power ◽  
Hydro Turbine ◽  
Hydroelectric Power Plants ◽  
Twisting Control ◽  
Super Twisting Control

Speed control of hydro Turbine is an important issue and a shorter settling time is desired. In case of operation of drives with speed sensors, the performance of the drive is not satisfactory. To get satisfactory performance, a sensorless speed control system for hydro Turbine driving a synchronous generator in the hydroelectric power plants is developed. This work, we apply the approach of two methods of regulation: Super Twisting Control (STC) based on super-twisting observer (STO) and Super Twisting Control (STC) based on Higher Order Sliding Mode Observer (HOSMO). Simulation model in the presence of stochastic disturbance has been established in Matlab -Simulink. Simulation results demonstrate and validate the productiveness and performances of the proposed control method.

Finite-time disturbance observer via continuous fractional sliding modes

2017 ◽  
Vol 40 (14) ◽  
pp. 3953-3963 ◽  
Author(s):  
Aldo-Jonathan Muñoz-Vázquez ◽  
Vicente Parra-Vega ◽  
Anand Sánchez-Orta ◽  
Gerardo Romero-Galván
Keyword(s):  
Finite Time ◽  
Disturbance Observer ◽  
Differential Operators ◽  
Sliding Mode ◽  
Sliding Modes ◽  
Integer Order ◽  
Disturbance Estimation ◽  
Sliding Motion ◽  
Sliding Mode Disturbance Observer ◽  
Essential Properties

Recently, a great deal of effort has been devoted to the design of robust control techniques that compensate for lumped disturbances in mechanical robots and general electromechanical systems through disturbance observers. In this paper, assuming the Hamiltonian structure of Euler–Lagrange systems subject to a wider class of disturbances, and by exploiting some essential properties of fractional-order integro-differential operators, such as heritage and memory, a disturbance observer that is theoretically exact is proposed based on continuous fractional sliding modes, where exactness is understood in the sense of equality, in contrast to simple equivalence. The novelty of the proposal arises from the fact that the continuous fractional sliding-mode disturbance observer is exact, assuring finite-time disturbance estimation, in contrast with a classical integer-order sliding motion that is equivalent. Consequently, there arises a disturbance observer in finite time, including exact observation of continuous but not necessarily differentiable Hölder disturbances, as well as a clear compromise between regularity and robustness, which stands for a quite important issue overlooked in the conventional integer-order case. Representative simulations are discussed to highlight the reliability of the proposed method.

scholarly journals Adaptive Super-Twisting Control for Mobile Wheeled Inverted Pendulum Systems

2019 ◽  
Vol 9 (12) ◽  
pp. 2508 ◽  
Author(s):  
Mengshi Zhang ◽  
Jian Huang ◽  
Yu Cao
Keyword(s):  
Sliding Mode Control ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Superior Performance ◽  
Modeling And Control ◽  
Mode Control ◽  
Wheeled Inverted Pendulum ◽  
Chattering Elimination ◽  
Twisting Control ◽  
Super Twisting Control

Recently, the mobile wheeled inverted pendulum (MWIP) has gained an increasing interest in the field of robotics due to traffic and environmental protection problems. However, the MWIP system is characterized by its nonlinearity, underactuation, time-varying parameters, and natural instability, which make its modeling and control challenging. Traditionally, sliding mode control is a typical method for such systems, but it has the main shortcoming of a “chattering” phenomenon. To solve this problem, a super-twisting algorithm (STA)-based controller is proposed for the self-balancing and velocity tracking control of the MWIP system. Since the STA is essentially a second-order sliding mode control, it not only contains the merits of sliding mode control (SMC) in dealing with the uncertainties and disturbances but can also be effective in chattering elimination. Based on the STA, we develop an adaptive gain that helps to learn the upper bound of the disturbance by applying an adaptive law, called an adaptive super-twisting control algorithm (ASTA). The stability of the closed-loop system is ensured according to the Lyapunov theorem. Both nominal experiments and experiments with uncertainties are conducted to verify the superior performance of the proposed method.

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

Design of rotational inverted pendulum control based on second-order sliding mode

2021 ◽  
pp. 002072092098848
Author(s):  
Chong Yang ◽  
Lu Dace ◽  
Wang Hongli
Keyword(s):  
Control System ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Control Function ◽  
Control Variable ◽  
System Control ◽  
Sign Function ◽  
Coupling System ◽  
Twisting Control ◽  
Super Twisting Control

Rotational Inverted Pendulum is a typical nonlinear, unstable and strong coupling system. How to design a control system to restore the equilibrium state quickly and stably is a problem worth studying. High order super twisting sliding mode system has the advantages of traditional sliding mode control system. Super twisting system can elimination control chatter due to the discontinuities of control variable which contain in traditional sliding mode system. The super twisting system is designed. The saturation function replaces the sign function in the super twisting control function to improve the smoothness of the control variable. The simulation shows that this design has excellent precision. Inverted pendulum has smaller movement stroke than traditional super twisting system. Control chatter is also smaller than traditional super twisting system.

Sign in / Sign up

Export Citation Format

Share Document