A Lyapunov based Saturated Super-Twisting Algorithm
Por:
Castillo I., Steinberger M., Fridman L., Moreno J.A., Horn M.
Publicada:
1 ene 2021
Resumen:
Two different structures of saturated super-twisting algorithms are presented. Both structures switch from a relay controller to super-twisting algorithm through a switching law that is based on Lyapunov-level curves allowing the algorithms to generate bounded control signals. The relay controller provides a saturated control signal enforcing the system trajectories to reach a predefined neighborhood of the origin in which the super-twisting algorithm dynamics does not saturate, ensuring finite-time convergence to the origin. In order to increase the maximal admissible bound of the perturbations, the second algorithm also includes a perturbation estimator setting super-twisting’s integrator to the theoretically exact perturbation estimation. Experimental results are presented to validate the proposed algorithms. © 2021, Springer Nature Singapore Pte Ltd.
Filiaciones:
Castillo I.:
Institute of Automation and Control, Graz University of Technology, Graz, 8010, Austria
Steinberger M.:
Institute of Automation and Control, Graz University of Technology, Graz, 8010, Austria
Fridman L.:
Facultad de Ingeniería, Universidad Nacional Autónoma de México (UNAM), Mexico City, 04510, Mexico
Moreno J.A.:
Instituto de Ingeniería, Universidad Nacional Autónoma de México (UNAM), Mexico city, 04510, Mexico
Horn M.:
Institute of Automation and Control, Graz University of Technology, Graz, 8010, Austria
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