An Anti-Windup Scheme for the Super-Twisting Algorithm

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Abstract

In this paper, a system, which is subject to perturbations and unknowns, with a saturating actuator is considered. In order to design a robust feedback control law based on the sliding mode approach, the standard super-twisting algorithm is modified adopting an anti-windup technique. Similar to the conventional super-twisting controller, the control signal introduced into the system is continuous everywhere. The performance of the conventional one is, however, significantly improved in the case that the initial condition of the system is far away from the origin. Global finite-time stability properties of the closed-loop are investigated, which gives a parameter setting for the controller. Having employed numerical simulations, feasibility and effectiveness of the scheme are indicated.
Original languageEnglish
Title of host publication58th IEEE Conference on Decision and Control
Publication statusAccepted/In press - 2019
Event58th Conference on Decision and Control - Nice, France
Duration: 11 Dec 201913 Dec 2019

Conference

Conference58th Conference on Decision and Control
Abbreviated titleCDC 2019
CountryFrance
CityNice
Period11/12/1913/12/19

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Controllers
Robust control
Feedback control
Actuators
Computer simulation

Cite this

An Anti-Windup Scheme for the Super-Twisting Algorithm. / Golkani, Mohammad Ali; Koch, Stefan; Seeber, Richard; Reichhartinger, Markus; Horn, Martin.

58th IEEE Conference on Decision and Control. 2019.

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Golkani, MA, Koch, S, Seeber, R, Reichhartinger, M & Horn, M 2019, An Anti-Windup Scheme for the Super-Twisting Algorithm. in 58th IEEE Conference on Decision and Control. 58th Conference on Decision and Control, Nice, France, 11/12/19.
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N2 - In this paper, a system, which is subject to perturbations and unknowns, with a saturating actuator is considered. In order to design a robust feedback control law based on the sliding mode approach, the standard super-twisting algorithm is modified adopting an anti-windup technique. Similar to the conventional super-twisting controller, the control signal introduced into the system is continuous everywhere. The performance of the conventional one is, however, significantly improved in the case that the initial condition of the system is far away from the origin. Global finite-time stability properties of the closed-loop are investigated, which gives a parameter setting for the controller. Having employed numerical simulations, feasibility and effectiveness of the scheme are indicated.

AB - In this paper, a system, which is subject to perturbations and unknowns, with a saturating actuator is considered. In order to design a robust feedback control law based on the sliding mode approach, the standard super-twisting algorithm is modified adopting an anti-windup technique. Similar to the conventional super-twisting controller, the control signal introduced into the system is continuous everywhere. The performance of the conventional one is, however, significantly improved in the case that the initial condition of the system is far away from the origin. Global finite-time stability properties of the closed-loop are investigated, which gives a parameter setting for the controller. Having employed numerical simulations, feasibility and effectiveness of the scheme are indicated.

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