Robust Dynamic Sliding Mode Control-Based PID–Super Twisting Algorithm and Disturbance Observer for Second-Order Nonlinear Systems: Application to UAVs

Thanh, Ha Le Nhu Ngoc; Hong, Sung Kyung

doi:10.3390/electronics8070760

Cited by 23 publications

(11 citation statements)

References 49 publications

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“…All these proposed methods aim to reduce chattering phenomena. The one with the simplest algorithm and the easiest experimentally is the STA method [50,51]. This method was applied in several fields, for example, electronic and electrical control.…”

Section: Third-order Sliding Mode Controlmentioning

confidence: 99%

Third-Order Sliding Mode Applied to the Direct Field-Oriented Control of the Asynchronous Generator for Variable-Speed Contra-Rotating Wind Turbine Generation Systems

Benbouhenni

Bizon

2021

Energies

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Traditional direct field-oriented control (DFOC) techniques with integral-proportional (PI) controllers have undesirable effects on the power quality and performance of variable speed contra-rotating wind power (CRWP) plants based on asynchronous generators (ASGs). In this work, a commanding technique based on the DFOC technique for ASG is presented on variable speed conditions to minimize the output power ripples and the total harmonic distortion (THD) of the grid current. A new DFOC strategy was designed based on third-order sliding mode (TOSM) control to minimize oscillations and the THD value of the current and active power of the ASG; the designed technique decreases the current THD from ASG and does not impose any additional undulations in different parts of ASG. The designed technique is simply implemented on traditional DFOC techniques in variable speed DRWP systems to ameliorate its effectiveness. Also, the results show that by using the designed TOSM controllers, in addition to regulating the active and reactive powers of the ASG-based variable speed CRWP system, the THD current and active power undulations of the traditional inverters can be minimized simultaneously, and the stator current became more like a sinusoidal form.

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Section: Third-order Sliding Mode Controlmentioning

confidence: 99%

Third-Order Sliding Mode Applied to the Direct Field-Oriented Control of the Asynchronous Generator for Variable-Speed Contra-Rotating Wind Turbine Generation Systems

Benbouhenni

Bizon

2021

Energies

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“…With a simple procedure of construction and strict robustness to counteract uncertainties/disturbances, the sliding mode control (SMC) and extended SMC have been largely developed in the UAV control system, such as second-order sliding mode control [ 13 , 14 , 15 , 16 ], backstepping and integral SMC [ 17 , 18 ], and adaptive SMC [ 19 , 20 ]. It is well-known as a robust control in the SMC community, the nonsingular terminal SMC (NSTSMC) is an interesting technique [ 21 ], because the algorithm ensures both finite-time stability of sliding surface and the convergence of system states to desired trajectories.…”

Section: Introductionmentioning

confidence: 99%

Quadcopter UAVs Extended States/Disturbance Observer-Based Nonlinear Robust Backstepping Control

Thanh

Huynh

et al. 2022

Sensors

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A trajectory tracking control for quadcopter unmanned aerial vehicle (UAV) based on a nonlinear robust backstepping algorithm and extended state/disturbance observer (ESDO) is presented in this paper. To obtain robust attitude stabilization and superior performance of three-dimension position tracking control, the construction of the proposed algorithm can be separated into three parts. First, a mathematical model of UAV negatively influenced by exogenous disturbances is established. Following, an extended state/disturbance observer using a general second-order model is designed to approximate undesirable influences of perturbations on the UAVs dynamics. Finally, a nonlinear robust controller is constructed by an integration of the nominal backstepping technique with ESDO to enhance the performance of attitude and position control mode. Robust stability of the closed-loop disturbed system is obtained and guaranteed through the Lyapunov theorem without precise knowledge of the upper bound condition of perturbations. Lastly, a numerical simulation is carried out and compared with other previous controllers to demonstrate the great advantage and effectiveness of the proposed control method.

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“…To estimate the unmeasured signals and enforce the system robustness against external disturbances, the higher order sliding mode observer is also used in this research [22]. In the same way, the authors in [23] integrated the ST algorithm, the PID sliding mode control, and the disturbance observer to regulate the quadrotor attitude and altitude. However, the position tracking control is not considered in these works [22,23].…”

Section: Introductionmentioning

confidence: 99%

Robust Finite-Time Tracking Control Based on Disturbance Observer for an Uncertain Quadrotor under External Disturbances

Hassani

Mansouri²,

Ahaitouf

2022

Journal of Robotics

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In this paper, a robust flight control system is proposed for an autonomous quadrotor to quickly and accurately achieve the targeted trajectories. A novel supertwisting nonsingular terminal sliding mode control (STNTSMC) has been developed to ensure that the tracking errors vanish in a short finite-time. A nonlinear disturbance observer (DO) is incorporated into the control system to estimate the unknown external perturbations and to strengthen the system’s robustness. The Lyapunov theory is used to verify the closed-loop stability of the synthesized controller. Moreover, processor-in-the-loop (PIL) implementations are performed to validate the efficacy of the suggested method. The merit of the proposed DO-STNTSMC is evaluated under multiple flight scenarios. The obtained results demonstrate that the proposed controller has a highly reduced tracking error and strong robustness against random parameter changes and external disturbances, compared to conventional nonsingular terminal sliding mode control. Finally, experimental tests are conducted to validate the performance of the suggested method.

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Robust Dynamic Sliding Mode Control-Based PID–Super Twisting Algorithm and Disturbance Observer for Second-Order Nonlinear Systems: Application to UAVs

Cited by 23 publications

References 49 publications

Third-Order Sliding Mode Applied to the Direct Field-Oriented Control of the Asynchronous Generator for Variable-Speed Contra-Rotating Wind Turbine Generation Systems

Third-Order Sliding Mode Applied to the Direct Field-Oriented Control of the Asynchronous Generator for Variable-Speed Contra-Rotating Wind Turbine Generation Systems

Quadcopter UAVs Extended States/Disturbance Observer-Based Nonlinear Robust Backstepping Control

Robust Finite-Time Tracking Control Based on Disturbance Observer for an Uncertain Quadrotor under External Disturbances

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