TY - JOUR
T1 - Conditioned Super-Twisting Algorithm for systems with saturated control action
AU - Seeber, Richard
AU - Reichhartinger, Markus
PY - 2020/6
Y1 - 2020/6
N2 - 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.
AB - 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.
KW - sliding mode control
KW - robust control
KW - control input saturation
KW - windup
KW - conditioning technique
KW - servomotors
KW - Robust control
KW - Windup
KW - Sliding-mode control
KW - Conditioning technique
KW - Control input saturation
KW - Servomotors
UR - http://www.scopus.com/inward/record.url?scp=85081163053&partnerID=8YFLogxK
U2 - 10.1016/j.automatica.2020.108921
DO - 10.1016/j.automatica.2020.108921
M3 - Article
SN - 0005-1098
VL - 116
JO - Automatica
JF - Automatica
M1 - 108921
ER -