Output-Feedback Multivariable Global Variable Gain Super-Twisting Algorithm

Vidal, Paulo V. N. M.; Nunes, Eduardo V. L.; Hsu, Liu

doi:10.1109/tac.2016.2609602

Cited by 48 publications

(29 citation statements)

References 26 publications

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“…The norm observers, as the ones adopted in the work of Oliveira et al and developed by Hsu et al, could be applied to implement a universal output‐feedback controller by substituting the gain functions r 1 ( t , x ), r 2 ( t , x ), λ 1 ( t , x ), λ 2 ( t , x ) with

r_{1} false(t, \overset{x}{true} false), r_{2} false(t, \overset{x}{true} false), λ_{1} false(t, \overset{x}{true} false), λ_{2} false(t, \overset{x}{true} false)

. The stability and convergence properties of the proposed output‐feedback controller could be established using a similar approach as the one presented in the works of Vidal et al and Cunha et al However, this topic is going to be considered in a future work.…”

Section: Universal Output‐feedback–like Controllermentioning

confidence: 99%

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Global second‐order sliding mode control for nonlinear uncertain systems

Shi

Zhang

et al. 2018

Intl J Robust & Nonlinear

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Summary Second‐order sliding mode (SOSM) control is used to keep exactly a constraint σ of the second relative degree or to avoid chattering phenomenon. Yet, the traditional SOSM controllers are designed based upon the assumption that the uncertainties or their derivatives are bounded by positive constants. In this paper, a global SOSM controller is designed for a general class of single‐input–single‐output nonlinear systems with uncertainties bounded by positive functions. Moreover, a variable‐gain robust exact differentiator is developed such that the SOSM controllers with finite‐time convergence can also be implemented even when the derivative of the constraint σ is unavailable. Simulation results are given to show the effectiveness of the proposed method.

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r_{1} false(t, \overset{x}{true} false), r_{2} false(t, \overset{x}{true} false), λ_{1} false(t, \overset{x}{true} false), λ_{2} false(t, \overset{x}{true} false)

Section: Universal Output‐feedback–like Controllermentioning

confidence: 99%

“…with r 1 (t,x), r 2 (t,x), 1 (t,x), 2 (t,x). The stability and convergence properties of the proposed output-feedback controller could be established using a similar approach as the one presented in the works of Vidal et al 39 and Cunha et al 40 However, this topic is going to be considered in a future work.…”

Section: Universal Output-feedback-like Controllermentioning

confidence: 99%

Global second‐order sliding mode control for nonlinear uncertain systems

Shi

Zhang

et al. 2018

Intl J Robust & Nonlinear

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“…Considering the sliding mode disturbance observer dynamic (30) and control law (31), there exists a finite time such that the disturbances can be exactly estimated by…”

Section: Theoremmentioning

confidence: 99%

“…In many situations, the multi-input multi-output (MIMO) systems have been separated into multiunivariate systems, and the developed theories 7,19 have been used. Instead, a multivariable STA sliding mode approach has been developed, 29,30 which can obtain more elegant solutions and more attractive characteristics than the univariate one. As pointed in Nagesh and Edwards, 29 a multivariable control scheme may be preferred for MIMO control systems since it can bring some improved control performance such as chattering reduction for SMC.…”

Section: Introductionmentioning

confidence: 99%

Adaptive multivariable generalized super-twisting algorithm based robust coordinated control for a space robot subjected to coupled uncertainties

Wei

Yuan

Wang

2018

Proceedings of the Institution of Mechanical Engineers, Part G:

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There often exist strong coupled characteristics between the space robot platform and the manipulators. The neglect of the coupled factors may induce undesired control performance or even lead to system crash. In this paper, a novel robust adaptive coordinated control scheme is developed for a space robot with coupled uncertainties and external disturbances. By proposing a multivariable generalized super-twisting algorithm, the bounded disturbances together with uncertainties could be compensated. An adaptation tuning approach is developed to deal with the unknown bounds. Meanwhile, the sliding mode disturbance observer is introduced to alleviate the system conservatism and improve convergence rate and accuracy. As a result, the accurate state tracking is achieved in finite time. A proof of the finite-time convergence is derived using the Lyapunov theory. Simulations are carried out on a space robot with a three-degrees-of-freedom manipulator to demonstrate the effectiveness and robustness of the proposed method.

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“…"> ii.The proposed FTC scheme is delicately constructed, combining the advantages of FNTSM and AMSTW algorithm for spacecraft attitude system with relative degree two. Compared with the previous works on spacecraft attitude FTC scheme that is designed based on TSM, NTSM, or ITSM control strategy suffering from undesirable chattering phenomenon, the proposed multivariable FTC scheme has some advantages, such as chattering reduction and nondecoupled design (see for more details the works of Vidal et al and Nagesh and Edwards.…”

Section: Introductionmentioning

confidence: 99%

Adaptive multivariable finite‐time continuous fault‐tolerant control of rigid spacecraft

Zhao

Zong

Tian

et al. 2019

Intl J Robust & Nonlinear

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Summary The problem of fault‐tolerant attitude tracking control for rigid spacecraft in the presence of inertia uncertainties, actuator faults, and external disturbances is investigated in this paper. A novel adaptive finite‐time continuous fault‐tolerant control strategy is developed by combining the fast nonsingular terminal sliding mode surface and the adaptive multivariable super‐twisting algorithm, which improves the robustness while preserving high accuracy and finite‐time convergence. The main features of the control strategy are the double‐layer adaptive algorithm based on equivalent control, which ensures nonoverestimation of the control gain and the continuous controller, which maintains better property of chattering reduction. Finally, the efficiency of the proposed controller is illustrated by numerical simulations.

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Output-Feedback Multivariable Global Variable Gain Super-Twisting Algorithm

Cited by 48 publications

References 26 publications

Global second‐order sliding mode control for nonlinear uncertain systems

Global second‐order sliding mode control for nonlinear uncertain systems

Adaptive multivariable generalized super-twisting algorithm based robust coordinated control for a space robot subjected to coupled uncertainties

Adaptive multivariable finite‐time continuous fault‐tolerant control of rigid spacecraft

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