Flight data validation of an icing accretion estimation scheme using super-twisting observers

Chen, Lejun; Whidborne, James F.

doi:10.1016/j.automatica.2023.111119

Cited by 3 publications

(2 citation statements)

References 32 publications

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“…where 𝜂 11 = min { 𝜂 11 , 𝜔 1 11 , 𝜔 1 12 } . Noting that β1 11 and β1 12 increase following (37) until ( 28) and ( 27) are met which guarantees the positive definite property of Q expressed by (26) and validity of (38). Then, based on Lemma 1, the finite time convergence of two adaptive switching gains, and s 11 and z 11 of ( 22) is proved.…”

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confidence: 89%

“…Super twisting algorithm (STA) is one of the most widely used higher-order sliding mode control (HOSMC) strategies because of its simple structure, finite time convergence, and robustness to unknown perturbations and model uncertainties, thus has attracted much attention to research and applications. [26][27][28][29][30] In Reference 31, the super-twisting control (STC) is used as a disturbance observer, achieving finite time compensation of matched disturbance in the ISMC control system. In addition, the discontinuous terms which may lead to the chattering phenomenon are processed via the integrator, so the STC technique can generate continuous control signals.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive super twisting observer‐based prescribed time integral sliding mode tracking control of uncertain robotic manipulators

Shen,

Song,

Fang

et al. 2024

Adaptive Control & Signal

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SummaryA novel integral sliding mode control (ISMC) strategy combined with an adaptive super twisting observer (ASTO) for an uncertain robotic manipulator tracking control system is presented in this article. The comprehensive uncertainties including both parameter perturbations and external disturbances are considered during the controller design. Firstly, a new nominal control law with prescribed time convergent property based on time varying scaling function is presented for the system without uncertainties. Then this nominal control law constitutes the prescribed time convergent sliding surface for ISMC. As the reaching phase is eliminated in ISMC, leading to the prescribed time stability of the whole control system without uncertainties. Secondly, take the system uncertainties (both the matched and unmatched uncertainties) into consideration, two ASTOs are designed for handling them. So, the lumped uncertainties of the robotic manipulator control system can be well estimated and compensated in finite time with the help of backstepping method. Besides, the finite time convergent adaptive switching gains of the ASTO make the system stable without knowing the bounds of the uncertainties exactly and suppress the chattering phenomenon of control input. Finally, the proposed control algorithm is validated by simulation and experiment on a robotic manipulator. Also, from a quantitative analysis, we testify the proposed control scheme outperforms the compared one in all of the discussed cases of simulation part.

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confidence: 89%