期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 57, 期 8, 页码 2100-2105出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2011.2179878
关键词
Chattering effect; discontinuous systems; Lyapunov functions; robust control; second-order sliding modes
资金
- CONACyT (Consejo Nacional de Ciencia y Tecnologia) [51244, 132125, CVU 208168]
- FONCICyT [93302]
- Programa de Apoyo a Proyectos de Investigacion e Innovacion Tecnologica (PAPIIT) under UNAM [117610, 117211]
- Fondo de Colaboracion del II-FI, UNAM [IISGBAS-165-2011]
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.
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