@inbook{0c6baf3d197c4aa1bafd8fb6c0230fd0,
title = "A Lyapunov based Saturated Super-Twisting Algorithm",
abstract = "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{\textquoteright}s integrator to the theoretically exact perturbation estimation. Experimental results are presented to validate the proposed algorithms.",
keywords = "sliding mode control, saturated control, Super-twisting algorithm, Lyapunov methods, bounded control",
author = "Ismael Castillo and Martin Steinberger and Leonid Fridman and Moreno, {Jaime A.} and Martin Horn",
year = "2021",
month = jan,
day = "1",
doi = "10.1007/978-981-15-8613-2_2",
language = "English",
series = "Studies in Systems, Decision and Control",
publisher = "Springer Singapore",
pages = "47--68",
editor = "Axaykumar Mehta and Bijnan Bandyopadhyay",
booktitle = "Emerging Trends in Sliding Mode Control",
}