Disturbance-tailored super-twisting algorithms: Properties and design framework
Título | Disturbance-tailored super-twisting algorithms: Properties and design framework |
Tipo de Publicación | Journal Article |
Año de Publicación | 2019 |
Autores | Haimovich H, De Battista H |
Journal | Automatica |
Volumen | 101 |
Páginas | 318 - 329 |
ISSN | 0005-1098 |
Resumen | Second- and higher-order sliding mode techniques are able to avoid the chattering effect associated with first-order sliding. The super-twisting algorithm is one of the most popular second-order sliding mode techniques. Existing modifications of the super-twisting algorithm allow for improved disturbance rejection capability. In this paper, we introduce a new class of generalizations of the super-twisting algorithm that are able to keep the main advantages of standard super-twisting while rejecting disturbances bounded in forms for which the existing algorithms may be not directly applicable. Our results thus broaden the applicability of second-order sliding-mode techniques. We give conditions for stability and finite-time convergence, and provide a complete design framework based on given disturbance bounds. |
DOI | 10.1016/j.automatica.2018.12.017 |