Variable Gain Super-Twisting Sliding Mode Control

Author

Gonzalez, Tenoch ; Moreno, Jaime A. ; Fridman, Leonid

Author_Institution

Programa de Maestria y Doctorado en Ing. Electr. (control), Univ. Nac. Autonoma de Mexico, Mexico City, Mexico

Volume

57

Issue

8

fYear

2012

Firstpage

2100

Lastpage

2105

Abstract

In this note, a novel, Lyapunov-based, variable-gain super-twisting algorithm (STA) is proposed. It ensures for linear time invariant systems the global, finite-time convergence to the desired sliding surface, when the matched perturbations/uncertainties are Lipschitz-continuous functions of time, that are bounded, together with their derivatives, by known functions. The proposed algorithm has similar properties to the variable-gain first-order sliding mode control, but it provides alleviation to the chattering phenomenon. The results are verified experimentally.

Keywords

Lyapunov methods; control nonlinearities; linear systems; uncertain systems; variable structure systems; Lipschitz-continuous functions; Lyapunov-based variable-gain supertwisting algorithm; STA; chattering phenomenon; global finite-time convergence; linear time invariant systems; matched perturbations; matched uncertainties; sliding surface; variable gain super-twisting sliding mode control; Convergence; Differential equations; Gain; Lyapunov methods; Robustness; Sliding mode control; Uncertainty; Chattering effect; Lyapunov functions; discontinuous systems; robust control; second-order sliding modes;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2011.2179878

Filename

6104366