On Trajectory Planning, Backstepping Controller Design and Sliding Modes in Active Front-Ends

Abstract

A flatness-based online trajectory planning algorithm for two-level voltage source converters is presented allowing for transitions in finite time. For trajectory tracking, two controllers are derived using a backstepping approach. One of them is a sliding mode controller. A method for decoupling the impact of the switching actions on the sliding surfaces is presented. The flatness of the system is used also for the prediction of the switching frequency. The main results are verified experimentally.