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 language | English |
|---|---|
| Article number | 108921 |
| Number of pages | 9 |
| Journal | Automatica |
| Volume | 116 |
| DOIs | |
| Publication status | Published - Jun 2020 |
Keywords
- sliding mode control
- robust control
- control input saturation
- windup
- conditioning technique
- servomotors
- Robust control
- Windup
- Sliding-mode control
- Conditioning technique
- Control input saturation
- Servomotors
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering