Conditioned Super-Twisting Algorithm for systems with saturated control action

Richard Seeber*, Markus Reichhartinger

*Korrespondierende/r Autor/in für diese Arbeit

Publikation: Beitrag in einer FachzeitschriftArtikel

Abstract

The super-twisting algorithm is a robust sliding-mode control law, which in the case of a saturated control input suffers from a windup effect. This contribution proposes a modified control law that is obtained by mitigating windup by means of the conditioning technique. Closed-loop stability is analyzed for bounded and Lipschitz continuous perturbations acting on a first-order linear time-invariant plant. Advantages compared to existing approaches are demonstrated both analytically, in terms of stability conditions, and numerically, in the course of simulations. An experiment considering the control of a servomotor demonstrates the practical usability, straightforward implementation and simple tuning of the proposed controller.
Originalspracheenglisch
Aufsatznummer108921
Seitenumfang9
FachzeitschriftAutomatica
Jahrgang116
DOIs
PublikationsstatusVeröffentlicht - Jun 2020

ASJC Scopus subject areas

  • !!Electrical and Electronic Engineering
  • !!Control and Systems Engineering

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