A Lyapunov based Saturated Super-Twisting Algorithm

Ismael Castillo*, Martin Steinberger, Leonid Fridman, Jaime A. Moreno, Martin Horn

*Korrespondierende/r Autor/in für diese Arbeit

Publikation: Beitrag in Buch/Bericht/KonferenzbandBeitrag in Buch/Bericht

Abstract

Two different structures of saturated super-twisting algorithms are presented. Both structures switch from a relay controller to super-twisting algorithm through a switching law that is based on Lyapunov-level curves allowing the algorithms to generate bounded control signals. The relay controller provides a saturated control signal enforcing the system trajectories to reach a predefined neighborhood of the origin in which the super-twisting algorithm dynamics does not saturate, ensuring finite-time convergence to the origin. In order to increase the maximal admissible bound of the perturbations, the second algorithm also includes a perturbation estimator setting super-twisting’s integrator to the theoretically exact perturbation estimation. Experimental results are presented to validate the proposed algorithms.
Originalspracheenglisch
TitelEmerging Trends in Sliding Mode Control
Redakteure/-innenAxaykumar Mehta, Bijnan Bandyopadhyay
Herausgeber (Verlag)Springer Singapore
Seiten47-68
Seitenumfang22
DOIs
PublikationsstatusVeröffentlicht - 1 Jan 2021

Publikationsreihe

NameStudies in Systems, Decision and Control
Band318
ISSN (Print)2198-4182
ISSN (elektronisch)2198-4190

ASJC Scopus subject areas

  • !!Computer Science (miscellaneous)
  • !!Control and Optimization
  • !!Decision Sciences (miscellaneous)
  • !!Economics, Econometrics and Finance (miscellaneous)
  • !!Control and Systems Engineering
  • Fahrzeugbau
  • !!Social Sciences (miscellaneous)

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