Super-twisting ADRC for maximum power point tracking control of photovoltaic power generation system based on non-linear extended state observer.

This paper proposed a new method for maximum power point tracking in photovoltaic power generation systems by combining super-twisting sliding mode control and active disturbance rejection method. An incremental guidance method is used to find the point of maximum power. The non-linear extended state observer is applied to estimate the unmodeled dynamics and external disturbance. The ADRC based on a super-twisting sliding mode is designed to bring the state variables to the desired state. In the next step, the stability of NESO and ADRC are theoretically proved. Finally, the simulation results have been compared with the results of the PI controller, classical sliding mode control, and terminal sliding mode control (TSMC) presented in other articles. The results show the effectiveness and superiority of the proposed method. Also, to check the performance of the proposal method in real-time, real-time results have been compared with non-real-time results. The results obtained from the real-time and non-real-time simulations exhibited a minimal difference. This fact indicates the high accuracy of the modeling and simulations performed. Indeed, the mathematical models and non-real-time simulations have been able to accurately mimic the actual behavior of the photovoltaic system under various operating conditions.

Modified super twisting control for robust trajectory tracking and hovering of quadrotor.

This paper proposes a novel controller design using adaptation based modified super twisting control to facilitate trajectory tracking and hovering maneuvers for the quadrotor. The controller gains of the existing modified super twisting control require bounds on the disturbance for trajectory tracking and hovering of the quadrotor. In this paper, the controller gains are adapted using the proposed dynamic adaptation law without knowing the actual disturbance or their upper bounds. The controller is designed within a nonlinear framework without performing linearization of quadrotor dynamics, which enables the proposed controller to remain effective even when the states deviate significantly from their nominal values. The performance of trajectory tracking and hovering of the quadrotor in the presence of disturbance is demonstrated using numerical simulations. In order to assess the effectiveness of the controller, the performance of the adaptation based modified super twisting control is compared to the existing modified super twisting control, and the proposed controller outperforms the existing one.

Adaptive Super-Twisting Sliding Mode Control for Robot Manipulators with Input Saturation.

The paper investigates a modified adaptive super-twisting sliding mode control (ASTSMC) for robotic manipulators with input saturation. To avoid singular perturbation while increasing the convergence rate, a modified sliding mode surface (SMS) is developed in this method. Using the proposed SMS, an ASTSMC is developed for robot manipulators, which not only achieves strong robustness but also ensures finite-time convergence. The boundary of lumped uncertainties cannot be easily obtained. A modified adaptive law is developed such that the boundaries of time-varying disturbance and its derivative are not required. Considering input saturation in practical cases, an ASTSMC with saturation compensation is proposed to reduce the effect of input saturation on tracking performances of robot manipulators. The finite-time convergence of the proposed scheme is analyzed. Through comparative simulations against two other sliding mode control schemes, the proposed method has been validated to possess strong adaptability, effectively adjusting control gains; simultaneously, it demonstrates robustness against disturbances and uncertainties.

Dynamic performance of rotor-side nonlinear control technique for doubly-fed multi-rotor wind energy based on improved super-twisting algorithms under variable wind speed.

The paper proposes a nonlinear controller called dual super-twisting sliding mode command (DSTSMC) for controlling and regulating the rotor side converter (RSC) of multi-rotor wind power systems that use doubly-fed induction generators. It was proposed that this controller be developed as an alternative to the direct power control (DPC), which makes use of a pulse width modulation (PWM) strategy to regulate the RSC's functioning. Overcoming the power/current quality issue with the proposed technique (DPC-DSTSMC-PWM) is characterized by great robustness and excellent performance. The designed strategy was contrasted with the standard method of control and other methods already in use. So, the unique proposed control strategy's robustness, performance, efficiency, and efficacy in enhancing system characteristics were tested and validated in Matlab/Simulink. In both tests, the proposed method resulted in significant improvements, reducing active power ripples by 83.33%, 57.14%, and 48.57% in the proposed tests. When compared with the traditional regulation method, the reduction rates of reactive power ripples are 64.06%, 52.47%, and 68.7% in the tests. However, in contrast to the conventional method, the proposed tests showed a decrease of between 72.46%, 50%, and 76.22% in the value of total harmonic distortion (THD) of the provided currents. These ratios show how effective the proposed plan is in ameliorating and enhancing aspects of the energy system.

Research on speed sensorless control strategy of permanent magnet synchronous motor based on fuzzy super-twisting sliding mode observer.

Aiming at the problems of poor adjustment effect, weak anti-disturbance ability, and low robustness of the traditional sliding mode algorithm for permanent magnet synchronous motor speed sensorless, a permanent magnet synchronous motor speed observation method combining super-twisting sliding mode control algorithm and fuzzy control is proposed to accelerate the convergence speed of the system and improve the anti-disturbance ability. Fuzzy rules are used to solve the problem of obtaining the upper bound of the boundary function in the super-twisting algorithm. Moreover, the fuzzy algorithm is used to output the variable sliding mode gain instead of the fixed sliding mode coefficient to improve the system robustness and suppress the jitter. The simulation results show that the overshoot of the control system is 4%, the lag time is not more than 0.003 ms, the speed error is not more than 1%, and the response and adjustment time is not more than 0.02 s. The proposed control strategy improves the tracking accuracy and response speed of the system, suppresses the sliding mode chattering, and enhances the anti-interference ability of the system.

Optimizing grid-connected PV systems with novel super-twisting sliding mode controllers for real-time power management.

Over the past years, the use of renewable energy sources (RESs) has grown significantly as a means of providing clean energy to counteract the devastating effects of climate change. Reducing energy costs and pollution have been the primary causes of the rise in solar photovoltaic (PV) system integrations with the grid in recent years. A load that is locally connected to a GCPV requires both active and reactive power control. In order to control both active and reactive power, MAs and advanced controllers are essential. Researchers have used one of the recently developed MAs, known as the CAOA, which is based on mathematical arithmetic operators to tackle a few real-world optimization problems. Some disadvantages of CAOA include its natural tendency to converge to a local optimum and its limited capacity for exploration. By merging the PSO and CAOA methodologies, this article suggests the IAOA. To show how applicable IAOA is, its performance has been evaluated using four benchmark functions. The implementation of an IAOA-based ST-SMC for active and reactive power control is addressed in this article, which offers an innovative approach of research. In comparison to PSO-based ST-SMC and CAOA-based ST-SMC, the proposed IAOA-based ST-SMC appears to be superior, with settling time for active and reactive power control at a minimum of 0.01012 s and 0.5075 s. A real-time OPAL-RT 4510 simulator is used to validate the performance results of a 40 kW GCPV system after it has been investigated in the MATLAB environment.

Improved super-twisting sliding mode control strategy in permanent magnet synchronous motors for hydrogen fuel cell centrifugal compressor.

This paper rigorously addresses the intricate control demands of high-speed, high-pressure, wide adjustable speed range, and high energy utilization efficiency required in hydrogen fuel cell centrifugal compressor, with a focus on the speed control of 40,000 RPM permanent magnet synchronous motors (PMSMs). An improved second-order super twisting sliding mode control (STSMC) strategy is proposed to enhance system stability and robustness by integrating the beetle antennae search (BAS) algorithm and grey wolf optimization (GWO) algorithm. The global search capability of BAS is used to improve the local optima issues of GWO, and then the improved GWO algorithm is utilized to address the issues related to parameter selection and convergence speed inherent in the STSMC. Theoretical validity of the proposed strategy is asserted through Quadratic Lyapunov Function, and its practicality is affirmed by thorough simulation. Comparative analyses are conducted with PI controller, traditional Sliding Mode Controller (SMC), and standard Super-Twisting Sliding Mode Controller (ST) under several case studies to show the superiority of the propose STSMC.

Model based smooth super-twisting control of cancer chemotherapy treatment.

Chemotherapy is one of the most efficient methods for treating cancer patients. Chemotherapy aims to eliminate cancer cells as thoroughly as possible. Delivering medications to patients' bodies through various methods, either oral or intravenous is part of the chemotherapy process. Different cell-kill hypotheses take into account the interactions of the expansion of the tumor volume, external drugs, and the rate of their eradication. For the control of drug usage and tumor volume, a model based smooth super-twisting control (MBSSTC) is proposed in this paper. Firstly, three nonlinear cell-kill mathematical models are considered in this work, including the log-kill, Norton-Simon, and Emax hypotheses subject to parametric uncertainties and exogenous perturbations. In accordance with clinical recommendations, the tumor volume follows a predefined trajectory after chemotherapy. Secondly, the MBSSTC is applied for the three cell-kill models to attain accurate trajectory tracking even in the presence of uncertainties and disturbances. Compared to conventional super-twisting control (STC), the non-smooth term is introduced in the proposed control to enhance the anti-disturbance capability. Finally, simulation comparisons are performed across the proposed MBSSTC, conventional STC, and proportional-integral (PI) control methods to show the effectiveness and merits of our designed control method.

Super-twisting sliding mode control for neutral point voltage of three-phase four-wire inverter based on SiC/Si hybrid switch.

The three-phase four-wire voltage source inverter (3P4W VSI) is widely used in applications like uninterrupted power supply (UPS) and bidirectional onboard charger. The increasing power density demand requires higher switching frequency and lower switching loss. To fulfill the conflicting objectives, two-fold methodology is proposed in this paper: 1) SiC/Si hybrid switches (HyS) together with recently reported gate trigger are reported for the first time in the 3P4W VSI; 2) the natural point voltage is controlled to track a sinusoidal voltage with the frequency equal to 3 times of fundamental frequency in order to achieve higher DC-bus voltage utilization rate, and further reduce the switching loss. The traditional PI controller is very hard to achieve desired performance due to both the nonlinearity and the variant reference of the natural point voltage control system. Thereby, the super-twisting sliding mode control (ST-SMC) is proposed in this paper to achieve desired tracking performance and fast dynamic response. The effectiveness and superiority of the system are verified by both simulation and experiment comparison with the existing methods using a 5 kW prototype.

Time-delay control scheme with adaptive fixed-time convergent super-twisting fractional-order nonsingular terminal sliding mode for piezoelectric displacement amplifier.

Piezoelectric displacement amplifiers (PDAs) have been widely used in precision positioning fields. However, the inherent hysteresis and creep nonlinear effect of piezoelectric actuators (PEAs) and time-varying lumped disturbances bring extreme challenges to the precise motion control of PDAs. Although various control schemes based on PEAs have been developed and have shown significant results. However, due to the high sensitivity of precision positioning to environmental variations, the development and identification of accurate models and the control timeliness often become obstacles in engineering. To realize precise motion control of PDAs under complex lumped disturbances, a new time-delay control scheme (AFSTA-FONTSM) using an adaptive fixed-time convergent super-twisting algorithm (AFSTA) and a fractional-order nonsingular terminal sliding mode (FONTSM) is proposed. Specifically, the time-delay information obtained by time-delay estimation technology is used to estimate the lumped dynamic characteristic of the system, thus establishing a simple control framework without a system dynamic model. FONSTM is constructed as a sliding mode manifold, and satisfactory error dynamic characteristic is obtained. A new AFSTA is designed as the reaching law in the sliding mode phase. AFSTA has fixed-time convergence when the upper bound of lumped disturbances exists, which ensures the control timeliness. Benefiting from the newly designed adaptive algorithm, the upper bound value of lumped disturbances is no longer needed to determine the control gains, which effectively prevents overestimation of the control gains. Correspondingly, the convergence time of AFSTA is estimated, and the stability of the closed-loop system is analyzed by the Lyapunov theory. Three existing time-delay control schemes, namely MSTA-FONTSM, AMSTA-FONTSM, and ASTA-FONTSM are selected, and four scenes are designed for comparative experiments. The experimental results show that MSTA-FONTSM has the worst control performance among the four control schemes. For the step, and continuous cosine trajectories with periods of T = 1 s and T = 2 s, the root-mean-square error of the proposed AFSTA-FONTSM is reduced by 56.86%, 54.03%, and 50.24% compared with MSTA-FONTSM. For disturbance experiments under different loads, the control performance of the proposed AFSTA-FONTSM is still superior to the other three control schemes without load.

Fuzzy super twisting mode control of a rigid-flexible robotic arm based on approximate inertial manifold dimensionality reduction.

Introduction: The control of infinite-dimensional rigid-flexible robotic arms presents significant challenges, with direct truncation of first-order modal models resulting in poor control quality and second-order models leading to complex hardware implementations. Methods: To address these issues, we propose a fuzzy super twisting mode control method based on approximate inertial manifold dimensionality reduction for the robotic arm. This innovative approach features an adjustable exponential non-singular sliding surface and a stable continuous super twisting algorithm. A novel fuzzy strategy dynamically optimizes the sliding surface coefficient in real-time, simplifying the control mechanism. Results: Our findings, supported by various simulations and experiments, indicate that the proposed method outperforms directly truncated first-order and second-order modal models. It demonstrates effective tracking performance under bounded external disturbances and robustness to system variability. Discussion: The method's finite-time convergence, facilitated by the modification of the nonlinear homogeneous sliding surface, along with the system's stability, confirmed via Lyapunov theory, marks a significant improvement in control quality and simplification of hardware implementation for rigid-flexible robotic arms.

Robust discrete-time super twisting formation protocol for a 6-DOF Quadcopter swarm.

This paper contains a discrete-time higher-order sliding mode control for achieving the formation of a 6-Degrees of Freedom (DOF) Quadcopter swarm using the concept of a discrete Multi-agent system (DMAS). A graph theory is used to represent the communication between the Quadcopters and a leader-follower approach of DMAS is used to design the discrete super-twisting (DST) protocol for the formation of a 6-DOF Quadcopter swarm. The DST protocol not only ensures robustness but also reduces the convergence time and the chattering during the formation process of Quadcopters in a swarm. The stability condition of the formation is also derived using the Lyapunov function. The protocol is validated for the formation of 5 Quadcopters in the given pattern. The simulation results show that the formation is achieved in a finite time. Further to show the efficacy of the DST formation protocol, the results are compared with the first-order discrete-time sliding mode controllers designed by switching type reaching law and non-switching type of reaching law. As the first-order discrete-time sliding mode controllers have a significant amount of quasi-sliding mode band (QSMB) in the sliding surface during the operations, the DST protocol of higher-order discrete-time sliding mode control is preferred. From the comparative analysis, it is inferred that the DST protocol performs better for the formation of a 6-DOF Quadcopter swarm.

Novel adaptive law for super-twisting controller: USV tracking control under disturbances.

A novel adaptive super-twisting control algorithm, for Unmanned Surface Vehicles (USV) tracking control is presented. The proposed adaptive law is obtained using a Lyapunov approach, to analyze the system closed-loop stability. Furthermore, several conditions are given to guarantee robustness in presence of unknown bounded disturbances/uncertainties, chattering mitigation and the finite-time convergence. This adaptive control strategy has the advantage that the controller gains, which are in terms of a single control parameter, requires adjusting a small number of parameters compared with other adaptive strategies, moreover and its dynamics is smooth, improving the controller performance. To assess the proposed control methodology effectiveness, a trajectory tracking control is designed and implemented on an unmanned surface vehicle under the action of bounded unknown uncertainties and external perturbations. Numerical simulations and experimental results conducted with a vessel prototype demonstrate the performance and advantages under payload variations and external environmental conditions. Finally, a comparative study between the proposed approach with other adaptive super-twisting works has been conducted.

Investigation of high-gain two-tier converter with PI and super-twisting sliding mode control.

Power electronic converters are becoming more critical as renewable energy sources are linked to distributed generation systems. In this study, a "Two-Tier Converter" for high voltage gain with a low duty ratio, low voltage stress for the given voltage gain, continuous input current, and a grounded load arrangement have been made from two stages of a conventional boost converter. The analysis, modes of operation, and effects of the inductors' internal resistances on voltage gain have been discussed. The advantages of the two-tier converter have also been established by comparison studies with other modern high-gain converters. The suggested converter has also been evaluated using stability analysis, PI, and super-twisting sliding mode control (STSMC) to regulate the output voltage at a constant value. The effectiveness of the suggested configuration with the suggested control approach has been demonstrated through simulation and experimental investigation.

Optimal adaptive barrier-function super-twisting nonlinear global sliding mode scheme for trajectory tracking of parallel robots.

Compared to serial robots, parallel robots have potential superiorities in rigidity, accuracy, and ability to carry heavy loads. On the other hand, the existence of complex dynamics and uncertainties makes the accurate control of parallel robots challenging. This work proposes an optimal adaptive barrier-function-based super-twisting sliding mode control scheme based on genetic algorithms and global nonlinear sliding surface for the trajectory tracking control of parallel robots with highly-complex dynamics in the presence of uncertainties and external disturbances. The globality of the proposed controller guarantees the elimination of the reaching phase and the existence of the sliding mode around the surface right from the initial instance. Moreover, the barrier-function based adaptation law removes the requirement to know the upper bounds of the external disturbances, thus making it more suitable for practical implementations. The performance and efficiency of the controller is assessed using simulation study of a Stewart manipulator and an experimental evaluation on a 5-bar parallel robot. The obtained results were further compared to that of a six-channel PID controller and an adaptive sliding mode control method. The obtained results confirmed the superior tracking performance and robustness of the proposed approach.

Transient stability increase of multi-machine power system by using SSSC and DFIG control with TEF technique and super twisting differentiator.

This paper suggests a nonlinear controller of a Static Synchronous Series Compensator (SSSC) and a doubly-fed induction generator (DFIG) for transient stability enhancement by transient energy function (TEF) technique and super-twisting differentiator in the multi-machine power system. Initially, the TEF approach is employed to damping control and stability enhancement in a multi-machine power system including an SSSC, DFIG, and synchronous generator (SG). Then, the signals of time-derivative in the controller with a super-twisting differentiator are estimated. The significance and novelty of this work are the employs of the TEF method obtained for the multi-machine power system containing DFIG and SG. Another novelty is the use of the DFIG and SSSC simultaneous control whose uncertain parameters are estimated with a super-twisting differentiator. The feature of the nonlinear control approach is robust versus modifications in the topology of the system. Simulation is performed on the IEEE 9-bus system to appraise the operation of the nonlinear controller approach compared to back-stepping and sliding mode control. The simulation results demonstrate that the nonlinear controller approach satisfactorily reduces the first swing of oscillations.

Adaptive super-twisting sliding mode altitude trajectory tracking control for reentry vehicle.

This paper addresses the altitude trajectory tracking control problem of reentry vehicle subject to bounded uncertainty. A new continuous adaptive super-twisting sliding mode control (ASTSMC) method is developed based on conventional super-twisting sliding mode control (STSMC) and adaptive gain technique, which can improve tracking accuracy and achieve high control performance. Based on adaptive gain technique, the designed ASTSMC method requires no prior information on uncertainty and avoids the overestimation of control gain, then the unexpected chattering phenomenon is alleviated. By employing fast power rate reaching law and modified fast nonsingular terminal sliding mode (FNTSM) surface, the designed controller achieves faster convergence and stronger robustness than conventional STSMC methods. Furthermore, the finite-time stability of closed-loop system is proved through Lyapunov theory. Simulation results are executed to validate the superiority of the proposed controller.

Coordinated control for path-following of an autonomous four in-wheel motor drive electric vehicle.

Coordination of Active Front Steering (AFS) and Direct Yaw Moment Control (DYC) has been widely used for non-autonomous vehicle lateral stability control. Recently, some researchers used it (AFS/DYC) for path-following of autonomous vehicles. However, current controllers are not robust enough with respect to uncertainties and different road conditions to guarantee lateral stability of Autonomous Four In-wheel Motor Drive Electric Vehicles. Thus, a coordinated control is proposed to address this issue. In this paper, a two-layer hierarchical control strategy is utilized. In the upper-layer, a self-tunable super-twisting sliding mode control is utilized to deal with parametric uncertainties, and a Model Predictive Control (MPC) is used in order to allocate the control action to each AFS and DYC. Parametric uncertainties of tires' cornering stiffness, vehicle mass and moment of inertia are considered. Simulations with different road conditions for path-following scenario have been conducted in MATLAB/Simulink. An autonomous vehicle equipped with Four In-wheel Motor and two degrees of freedom vehicle dynamics model is used in this study. In the end, the performance of the proposed controller is compared with the MPC controller. Simulation results reveal that the proposed controller provides better path-following in comparison with the MPC controller.

Design of a Super Twisting Sliding Mode Controller for an MR Damper-Based Semi-Active Prosthetic Knee.

A large number of transfemoral amputees living in low-income countries could not access a much-needed prosthesis. Hence, affordable semi-active prosthetic knees have been designed in recent years. As the swing phase of the gait cycle is unstable as compared to the stance phase, these designs could not perfectly mimic this phase of a healthy human being. In contribution toward such a gap, this study proposes the modeling and design of a robust controller for magnetorheological (MR) damper-based semi-active prosthetic knee. A dynamic model representation for the swing phase of the single-axis knee is derived first. Subsequently, an MR damper valve model is developed. Then, a higher-order sliding mode controller is designed and evaluated for its stability and performance. The numerical simulation results show that the super twisting sliding mode controller improves the semi-active prosthetic knee's tracking efficiency. The design exhibited the finest performance, providing a low normalized mean square error as compared to previous designs. The variable speed performance and robustness evaluation for this controller also showed its ability to continue providing excellent performance in the presence of disturbances.

Efficient PMSG wind turbine with energy storage system control based shuffled complex evolution optimizer.

To well manage the quality of the injected electrical power into the grid from a variable speed wind turbine (VSWT), direct power control (DPC) scheme using second order sliding mode control (SOSMC) based on super-twisting algorithm (STA) approach is proposed. Meanwhile, for reaching the adequate gains of STA, an appropriate optimizer should be implemented. Therefore, shuffled complex evolution (SCE) algorithm-based parameter identification is suggested. To verify the effectiveness of the proposed SCE based controller, several well-known algorithms have been tested under various operating conditions namely: particle swarm optimizer (PSO), artificial bee colony optimizer (ABCO), ant colony optimization (ACO), rooted tree optimizer (RTO) and gray wolf optimizer (GWO). The results confirm the superiority of the proposed SCE algorithm among the competing algorithms and classic SMC regarding the active power steady-state error (0.7233%), undershoot percentage (0.1333%), settling time (0.6810 × 10-3 s), rise time (1.7515 × 10-4 s), peak value (7.0521 × 103 W), overall efficiency (99.2800%), and total harmonic distortion (0.7900%). The proposed SCE based controller allows getting important performances under various operating condition of wind speed and load variations with interesting electrical network stability.