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 20 publications

(8 citation statements)

References 49 publications

(53 reference statements)

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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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“…While designing the controller for quadrotor vehicle, the major challenge is to deal with the complexity, un-stability and nonlinearity of the dynamical model of the quadrotor. Since, the dynamical model of quadrotor is extremely vulnerable to external disturbances [4], various control strategies have been investigated and proposed for a single quadrotor such as backstepping control [5], sliding mode control [6], proportional-integral derivative (PID) control [7], and linear quadratic regulator (LQR) control [8] etc. More challenging task is to deal with the swarm of drones and recently some methods are proposed such as containment control for multiple quadrotors [9] and leader-follower approach with robust observer-based control for dynamic trajectory tracking [10].…”

Section: Introductionmentioning

confidence: 99%

A Robust Backstepping Sliding Mode Controller with Chattering-Free Strategy for a Swarm of Drones

Zaidi

Kazim

Wang

2022

J. Phys.: Conf. Ser.

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This paper presents a robust controller for a swarm of drones that are subjected to external disturbances. Integrating a fuzzy-based system in the sliding mode control technique, a chattering-free controller is proposed for the trajectory tracking of a drone. Furthermore, the formation controller for a group of drones is developed using the Backstepping control design technique. The integration of a fuzzy rule-based system in the sliding mode tracking controller enables overcoming the inherent chattering problem due to discontinuous switching function in the sliding mode control technique and provides smooth and chattering-free control signals. The asymptotic stability of the overall system is shown using the Lyapunov stability theory. Finally, the control design performance is evaluated using numerical simulations.

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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 20 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

A Robust Backstepping Sliding Mode Controller with Chattering-Free Strategy for a Swarm of Drones

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