Optimal Tuning of the Saturated Super-Twisting Algorithm

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Abstract

The saturated super-twisting algorithm is a sliding-mode control law for robust control in the presence of a saturated control input. It can in principle reject arbitrary bounded and Lipschitz continuous perturbations, and features a control signal that is continuous except for a single jump discontinuity. Its tuning requires the choice of a Lyapunov function from a family of quadratic functions. This choice determines the maximum amplitude of perturbations that are guaranteed to be rejected and the magnitude of the control signal’s discontinuity. This contribution proposes a procedure for choosing an optimal Lyapunov function that permits to maximize the available perturbation amplitude and minimize the discontinuity’s magnitude.
Originalspracheenglisch
Titel18th European Control Conference (ECC)
Seiten3606-3612
ISBN (elektronisch)978-3-907144-01-5
DOIs
PublikationsstatusVeröffentlicht - 2019
Veranstaltung18th European Control Conference - Naples, Italien
Dauer: 25 Jun 201928 Jun 2019

Konferenz

Konferenz18th European Control Conference
KurztitelECC
LandItalien
OrtNaples
Zeitraum25/06/1928/06/19

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