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

Richard Seeber; Martin Horn

doi:10.1109/LCSYS.2019.2917054

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

Richard Seeber, Martin Horn

Institute of Automation and Control (4430)

Research output: Contribution to journal › Article › peer-review

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 language	English
Pages (from-to)	715-720
Journal	IEEE Control Systems Letters
Volume	3
Issue number	3
DOIs	https://doi.org/10.1109/LCSYS.2019.2917054
Publication status	Published - 2019
Event	58th Conference on Decision and Control - Nice, France Duration: 11 Dec 2019 → 13 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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10.1109/LCSYS.2019.2917054Licence: CC BY 4.0

published_articleFinal published version, 733 KBLicence: CC BY 4.0

Cite this

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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.",

keywords = "Sliding mode control, Constrained control, Lyapunov methods, constrained control, Variable-structure/sliding-mode control",

author = "Richard Seeber and Martin Horn",

year = "2019",

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language = "English",

volume = "3",

pages = "715--720",

journal = "IEEE Control Systems Letters",

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AU - Horn, Martin

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AB - 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.

KW - Sliding mode control

KW - Constrained control

KW - Lyapunov methods

KW - constrained control

KW - Variable-structure/sliding-mode control

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SP - 715

EP - 720

JO - IEEE Control Systems Letters

JF - IEEE Control Systems Letters

IS - 3

T2 - 58th Conference on Decision and Control

Y2 - 11 December 2019 through 13 December 2019

ER -

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

Abstract

Keywords

ASJC Scopus subject areas

Fields of Expertise

Access to Document

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