Guaranteeing Disturbance Rejection and Control Signal Continuity for the Saturated Super-Twisting Algorithm

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Abstract

The saturated super-twisting algorithm is a second order sliding-mode control law for robust control in the presence of a bounded control input. Its implementation is based on a switching logic and the resulting control signal typically exhibits a single jump discontinuity. This contribution presents novel stability conditions that allow for tuning the algorithm such that perturbation amplitudes up to the control input bound are rejected with a continuous control signal. A simplified control law is furthermore proposed, which is equivalent to the original algorithm while being easier to implement.
Original languageEnglish
Pages (from-to)715-720
JournalIEEE Control Systems Letters
Volume3
Issue number3
DOIs
Publication statusPublished - 2019
Event58th Conference on Decision and Control - Nice, France
Duration: 11 Dec 201913 Dec 2019

Keywords

  • Sliding mode control
  • Constrained control
  • Lyapunov methods
  • constrained control
  • Variable-structure/sliding-mode control

ASJC Scopus subject areas

  • Control and Optimization
  • Control and Systems Engineering

Fields of Expertise

  • Information, Communication & Computing

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