Conditioned Super-Twisting Algorithm for systems with saturated control action

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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.
Original languageEnglish
Article number108921
Number of pages9
JournalAutomatica
Volume116
DOIs
Publication statusPublished - 2020

Keywords

  • sliding mode control
  • robust control
  • control input saturation
  • windup
  • conditioning technique
  • servomotors

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