Design of Robust Supertwisting Algorithm Based Second-Order Sliding Mode Controller for Nonlinear Systems with Both Matched and Unmatched Uncertainty
Copyright policy )Design of Robust Supertwisting Algorithm Based Second-Order Sliding Mode Controller for Nonlinear Systems with Both Matched and Unmatched Uncertainty
This paper proposes a robust supertwisting algorithm (STA) design for nonlinear systems where both matched and unmatched uncertainties are considered. The main contributions reside primarily to conceive a novel structure of STA, in order to ensure the desired performance of the uncertain nonlinear system. The modified algorithm is formed of double closed-loop feedback, in which two linear terms are added to the classical STA. In addition, an integral sliding mode switching surface is proposed to construct the attractiveness and reachability of sliding mode. Sufficient conditions are derived to guarantee the exact differentiation stability in finite time based on Lyapunov function theory. Finally, a comparative study for a variable-length pendulum system illustrates the robustness and the effectiveness of the proposed approach compared to other STA schemes.
Artificial intelligence, Sliding mode control, Robustness (evolution), Sliding Mode Control, Robust control, FOS: Mechanical engineering, Biochemistry, Gene, Engineering, exact differentiation stability, Lyapunov and storage functions, Integral sliding mode, Finite-Time Stability, integral sliding mode switching surface, Physics, Mathematical optimization, Sliding Mode, Reachability, uncertainties, Algorithm, Chemistry, Physical Sciences, Robotic Control and Stabilization Techniques, Variable structure systems, nonlinear systems, Networked Control Systems, Variable structure control, Aerospace Engineering, Control (management), Quantum mechanics, robust supertwisting algorithm (STA), Control theory (sociology), FOS: Mathematics, Nonlinear systems in control theory, Sensitivity (robustness), Inverted pendulum, Computational methods in systems theory, Lyapunov function theory, Lyapunov function, QA75.5-76.95, Computer science, Stability Analysis, Control and Systems Engineering, Electronic computers. Computer science, Missile Guidance and Control Strategies, Nonlinear system, Nonlinear Systems, Mathematics
Artificial intelligence, Sliding mode control, Robustness (evolution), Sliding Mode Control, Robust control, FOS: Mechanical engineering, Biochemistry, Gene, Engineering, exact differentiation stability, Lyapunov and storage functions, Integral sliding mode, Finite-Time Stability, integral sliding mode switching surface, Physics, Mathematical optimization, Sliding Mode, Reachability, uncertainties, Algorithm, Chemistry, Physical Sciences, Robotic Control and Stabilization Techniques, Variable structure systems, nonlinear systems, Networked Control Systems, Variable structure control, Aerospace Engineering, Control (management), Quantum mechanics, robust supertwisting algorithm (STA), Control theory (sociology), FOS: Mathematics, Nonlinear systems in control theory, Sensitivity (robustness), Inverted pendulum, Computational methods in systems theory, Lyapunov function theory, Lyapunov function, QA75.5-76.95, Computer science, Stability Analysis, Control and Systems Engineering, Electronic computers. Computer science, Missile Guidance and Control Strategies, Nonlinear system, Nonlinear Systems, Mathematics
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