Adaptive Backstepping Integral Sliding Mode Control Combined with Super-Twisting Algorithm For Nonlinear UAV Quadrotor System

Nettari, Yakoub; Labbadi, Moussa; Kurt, Serkan

doi:10.1016/j.ifacol.2022.07.322

Cited by 9 publications

(2 citation statements)

References 16 publications

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“…The introduced sliding surface design enhanced FOSMC by reducing torque ripple, chattering, and improving anti-disturbance properties compared to FOSMC with PI or proportional-derivative (PD) sliding surfaces. In [25], a comparative analysis revealed that the AB super-twisting SMC-based control law demonstrated superior performance in terms of cyclic path tracking and disturbance rejection. The control community has consistently improved SMC techniques to enhance their effectiveness in nonlinear systems.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Backstepping Integral Sliding Mode Control of a MIMO Separately Excited DC Motor

Afifa,

Ali,

Pervaiz

et al. 2023

Robotics

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This research proposes a robust nonlinear hybrid control approach to the speed control of a multi-input-and-multi-output separately excited DC motor (SEDCM). The motor that was under consideration experienced parametric uncertainties and load disturbances in the weak field region. The proposed technique aims to merge the benefits of adaptive backstepping (AB) and integral sliding mode control (ISMC) to enhance the overall system’s robustness. The unknown parameters with load disturbances are estimated using an adaptation law. These estimated parameters are incorporated into the controller design, to achieve a highly robust controller. The theoretical stability of the system is proved using the Lyapunov stability criteria. The effectiveness of the proposed AB–ISMC was demonstrated by simulation, to track the reference speed under parametric uncertainties and load disturbances. The control performance of the proposed technique was compared to that of feedback linearization (FBL), conventional sliding mode control (SMC), and AB control laws without and with the adaptation law. Regression parameters, such as integral square error, integral absolute error, and integral time absolute error, were calculated to quantitatively analyze the tracking performance and robustness of the implemented nonlinear control techniques. The simulation results demonstrated that the proposed controller could accurately track the reference speed and exhibited robustness, with steady-state error accuracy. Moreover, AB–ISMC overperformed, compared to the FBL, SMC, AB controller without adaptation law and AB controller with adaptation law, in reducing the settling time by factors of 27%, 67%, 23%, and 21%, respectively, thus highlighting the superior performance of the proposed controller.

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Section: Introductionmentioning

confidence: 99%

Adaptive Backstepping Integral Sliding Mode Control of a MIMO Separately Excited DC Motor

Afifa,

Ali,

Pervaiz

et al. 2023

Robotics

View full text Add to dashboard Cite

show abstract

“…A computerized tuning method for the parameters of the Super Twisting controller technique could further minimize chattering [21] and minimize core losses in a three-phase induction motor [22]. An adaptive Backstepping super twisting SMC was designed and compared with different techniques in [23]. The proposed design showed superior cyclic path tracking and disturbance rejection qualities.…”

Section: Introductionmentioning

confidence: 99%

Hybrid Backstepping-Super Twisting Algorithm for Robust Speed Control of a Three-Phase Induction Motor

2023

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This paper proposes a Hybrid Backstepping Super Twisting Algorithm for robust speed control of a three-phase Induction Motor in the presence of load torque uncertainties. First of all, a three-phase squirrel cage Induction Motor is modeled in MATLAB/Simulink. This is then followed by the design of different non-linear controllers, such as sliding mode control (SMC), super twisting SMC, and backstepping control. Furthermore, a novel controller is designed by the synergy of two methods, such as backstepping and super twisting SMC (Back-STC), to obtain the benefits of both techniques and, thereby, improve robustness. The sigmoid function is used with an exact differentiator to minimize the high-speed discontinuities present in the input channel. The efficacy of this novel design and its performance were evidenced in comparison with other methods, carried out by simulations in MATLAB/Simulink. Regression parameters, such as ISE (Integral Square error), IAE (Integral Absolute error) and ITAE (Integral Time Absolute error), were calculated in three different modes of operation: SSM (Start-Stop Mode), NOM (Normal Operation Mode) and DRM (Disturbance Rejection Mode). In the end, the numerical values of the regression parameters were quantitatively analyzed to draw conclusions regarding the tracking performance and robustness of the implemented non-linear control techniques.

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Distributed Formation Control for Multiple Quadrotor UAVs Based on Distributed Estimator and Singular Perturbation System

Li,

Wang,

Luo

et al. 2024

Int. J. Control Autom. Syst.

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Adaptive Backstepping Integral Sliding Mode Control Combined with Super-Twisting Algorithm For Nonlinear UAV Quadrotor System

Cited by 9 publications

References 16 publications

Adaptive Backstepping Integral Sliding Mode Control of a MIMO Separately Excited DC Motor

Adaptive Backstepping Integral Sliding Mode Control of a MIMO Separately Excited DC Motor

Hybrid Backstepping-Super Twisting Algorithm for Robust Speed Control of a Three-Phase Induction Motor

Distributed Formation Control for Multiple Quadrotor UAVs Based on Distributed Estimator and Singular Perturbation System

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