A Discrete RMRAC-STSM Controller for Current Regulation of Three-Phase Grid-Tied Converters with LCL filter

This article presents a discrete robust adaptive control structure, gathering a Robust Model Reference Adaptive Controller (RMRAC) with an adaptive Super-Twisting Sliding Mode (STSM) controller. The resulting control structure is applied to current control of a voltage-fed three-phase inverter, connected to the grid by an LCL filter. The main contribution of this control proposal is its adaptability, maintaining the robustness characteristics of the controllers that compose it with good regulation performance. Moreover, as the adaptive Sliding Mode action is high-order (Super-Twisting), the chattering phenomenon is significantly mitigated. Thereby, its implementation is simplified, using a first order reference model. For this, the dynamics of the LCL filter capacitors are neglected during the modeling process, considering it as an additive unmodeled dynamics. To validate the viability of the proposed control structure, Hardware in the Loop (HIL) results are presented.

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Reference Model-based Robust Adaptive Super-Twisting Sliding Mode Controller for Weak Grid-Currents Regulation of Three-Phase Inverters with LCL Filter

Eletrônica de Potência ◽

10.18618/rep.2021.2.0001 ◽

2021 ◽

Vol 26 (2) ◽

pp. 1-12

Author(s):

Guilherme Vieria Hollweg ◽

Paulo Jefferson Dias de Oliveira Evald ◽

Gustavo Guilherme Koch ◽

Everson Mattos ◽

Rodrigo V. Tambara ◽

...

Keyword(s):

Reference Model ◽

Sliding Mode ◽

Sliding Mode Controller ◽

Lcl Filter ◽

Weak Grid ◽

Model Based ◽

Three Phase ◽

Robust Adaptive

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Discrete sliding mode current control of grid-connected three-phase PWM converters with LCL filter

2010 IEEE International Symposium on Industrial Electronics ◽

10.1109/isie.2010.5637372 ◽

2010 ◽

Cited By ~ 15

Author(s):

F. Fuchs ◽

J. Dannehl ◽

F.W. Fuchs

Keyword(s):

Sliding Mode ◽

Current Control ◽

Lcl Filter ◽

Pwm Converters ◽

Three Phase

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ROBUST ADAPTIVE TRAJECTORY CONTROL FOR AN OMNIDIRECTIONAL VEHICLE WITH PARAMETRIC UNCERTAINTY

Transactions of the Canadian Society for Mechanical Engineering ◽

10.1139/tcsme-2013-0030 ◽

2013 ◽

Vol 37 (3) ◽

pp. 405-413 ◽

Cited By ~ 2

Author(s):

Ya-Chao Yang ◽

Chi-Cheng Cheng

Keyword(s):

Sliding Mode ◽

Parametric Uncertainty ◽

Adaptive Controller ◽

Trajectory Control ◽

Robust Adaptive Control ◽

Tracking Performance ◽

Damping Matrix ◽

The Matrix ◽

Asymptotic Tracking ◽

Robust Adaptive

In this paper, a robust adaptive control strategy is proposed for trajectory control of an omnidirectional vehicle with three omni-wheels, which have the ability to move simultaneously with independently rotational motion. The omnidirectional vehicle experiences uncertainties and unknown system parameters. The robust adaptive controller is designed based on the symmetric property of the damping matrix, which allows the matrix can be split into two parts. By the Lyapunov stability, the asymptotic tracking performance can be assured. The proposed control scheme is demonstrated by actual tracking experiments using the omnidirectional vehicle system. Experimental results showed promising tracking performance for the proposed method as compared to traditional sliding mode controller.

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Design of a Robust Model Reference Adaptive Control System

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.236-237.976 ◽

2012 ◽

Vol 236-237 ◽

pp. 976-980

Author(s):

Xiu Chun Zhao ◽

Guo Kai Xu ◽

Tao Zhang ◽

Ping Su Ge

Keyword(s):

Adaptive Control ◽

Control System ◽

Adaptive Controller ◽

Robust Adaptive Control ◽

Adaptive Control System ◽

External Disturbances ◽

Robust Model ◽

Robust Adaptive ◽

Model Reference Adaptive ◽

Adaptive Control Law

This paper addresses a robust adaptive control system based on Popov hyper-stability theory, which has strong robustness for the particular structure. Introducing the error between model and controlled object into adaptive controller, the system has accurate tracking capability and the convergence even in the presence of external disturbances and uncertainties. Simulations results are given to illustrate the effectiveness of the proposed robust adaptive control law in comparison with PID control.

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Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1177/09596518211027716 ◽

2021 ◽

pp. 095965182110277

Author(s):

Abdelkrim Brahmi ◽

Maarouf Saad ◽

Brahim Brahmi ◽

Ibrahim El Bojairami ◽

Guy Gauthier ◽

...

Keyword(s):

Control Method ◽

Sliding Mode ◽

Robust Adaptive Control ◽

Convergence Time ◽

Adaptive Sliding Mode Control ◽

Mobile Manipulator ◽

Control Law ◽

Adaptive Tracking Control ◽

Robust Adaptive ◽

Manipulator Robot

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

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Model-Free Predictive Current Control for Three-Phase Power Converters With LCL Filter

2020 IEEE Energy Conversion Congress and Exposition (ECCE) ◽

10.1109/ecce44975.2020.9236083 ◽

2020 ◽

Author(s):

Xiang Liu ◽

Yongchang Zhang ◽

Haitao Yang ◽

Jose Rodriguez

Keyword(s):

Power Converters ◽

Current Control ◽

Lcl Filter ◽

Model Free ◽

Three Phase

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Robust Adaptive Control Based on Specified Region Pole Assignment for Flexible Hypersonic Vehicle

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.128-129.270 ◽

2011 ◽

Vol 128-129 ◽

pp. 270-275

Author(s):

Zhi Gao Feng

Keyword(s):

Dynamic Performance ◽

Adaptive Controller ◽

Pole Assignment ◽

Hypersonic Vehicle ◽

Open Loop ◽

Robust Adaptive Control ◽

Robust Controller ◽

Robust Adaptive ◽

Robust Adaptive Controller ◽

Control Failures

This paper describes a robust adaptive controller based on specified region pole assignment for flexible hypersonic vehicle. The dynamic model of air-breathing hypersonic vehicle retains features including flexible effects, non-minimum phase behavior, model uncertainties, and strong couplings between flight dynamic and engine. To track velocity and altitude commands, robust controller based on specified region pole assignment is used to make unstable modes of open-loop system stable and guarantee dynamic performance of attitude. Meanwhile adaptive controller is proposed to solve tracking problems when existing control failures or saturation. The simulation results demonstrate that the proposed controller achieves excellent dynamic performance while the engine operates normally.

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