Discretization of the Super-Twisting Algorithm Using Variational Integrators

Florian Weissenberger; Lars Watermann; Stefan Koch; Markus Reichhartinger; Christina Hettiger; Lukas Eisenzopf; Kiran Kumari; Johann Reger; Martin Horn

doi:10.1109/CDC51059.2022.9992958

Discretization of the Super-Twisting Algorithm Using Variational Integrators

Florian Weissenberger, Lars Watermann, Stefan Koch, Markus Reichhartinger, Christina Hettiger, Lukas Eisenzopf, Kiran Kumari, Johann Reger, Martin Horn

Institute of Automation and Control (4430)

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

Abstract

In this paper, a new framework for the discretization of the super-twisting algorithm is developed. The proposed discretization scheme is not based on the underlying differential equations, but uses the variational formulation of the problem. Discrete-time versions derived in the proposed fashion exhibit a great tracking of the continuous-time energy decay rate and give a good approximation of the continuous-time system. Furthermore, the paper presents a stability proof for an exemplary algorithm, a semi-implicit version of the super-twisting algorithm derived by using variational integrators.

Original language	English
Title of host publication	2022 IEEE 61st Conference on Decision and Control, CDC 2022
Pages	4307-4312
Number of pages	6
ISBN (Electronic)	9781665467612
DOIs	https://doi.org/10.1109/CDC51059.2022.9992958
Publication status	Published - Jan 2023
Event	2022 61th IEEE Conference on Decision and Control: CDC 2022 - Cancún, Mexico Duration: 6 Dec 2022 → 9 Dec 2022 Conference number: 61 https://cdc2022.ieeecss.org/

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	2022-December
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	2022 61th IEEE Conference on Decision and Control
Abbreviated title	CDC 2022
Country/Territory	Mexico
City	Cancún
Period	6/12/22 → 9/12/22
Internet address	https://cdc2022.ieeecss.org/

Keywords

Variable-structure/sliding-mode control

ASJC Scopus subject areas

Control and Optimization
Control and Systems Engineering
Modelling and Simulation

Access to Document

10.1109/CDC51059.2022.9992958

Cite this

Weissenberger, F., Watermann, L., Koch, S., Reichhartinger, M., Hettiger, C., Eisenzopf, L., Kumari, K., Reger, J., & Horn, M. (2023). Discretization of the Super-Twisting Algorithm Using Variational Integrators. In 2022 IEEE 61st Conference on Decision and Control, CDC 2022 (pp. 4307-4312). (Proceedings of the IEEE Conference on Decision and Control; Vol. 2022-December). https://doi.org/10.1109/CDC51059.2022.9992958

Discretization of the Super-Twisting Algorithm Using Variational Integrators. / Weissenberger, Florian; Watermann, Lars; Koch, Stefan et al.
2022 IEEE 61st Conference on Decision and Control, CDC 2022. 2023. p. 4307-4312 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2022-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

Weissenberger, F, Watermann, L, Koch, S , Reichhartinger, M, Hettiger, C, Eisenzopf, L, Kumari, K, Reger, J & Horn, M 2023, Discretization of the Super-Twisting Algorithm Using Variational Integrators. in 2022 IEEE 61st Conference on Decision and Control, CDC 2022. Proceedings of the IEEE Conference on Decision and Control, vol. 2022-December, pp. 4307-4312, 2022 61th IEEE Conference on Decision and Control, Cancún, Mexico, 6/12/22. https://doi.org/10.1109/CDC51059.2022.9992958

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Discretization of the Super-Twisting Algorithm Using Variational Integrators

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Keywords

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