Lyapunov Approach for Analysis and Design of Second Order Sliding Mode Algorithms

被引:0
作者
Moreno, Jaime A. [1 ]
机构
[1] Univ Nacl Autonoma Mexico, Inst Ingn, Mexico City 04510, DF, Mexico
来源
SLIDING MODES AFTER THE FIRST DECADE OF THE 21ST CENTURY: STATE OF THE ART | 2011年 / 412卷
关键词
Sliding Modes; Variable Structure Control; Lyapunov Methods; Riccati Equations; ORDER; DIFFERENTIATION; OBSERVERS; SYSTEMS;
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Lyapunov functions are a basic tool for analysis and design in the modern control theory, and there are many different design methodologies based on Lyapunov theory. Second Order Sliding Modes, and in particular, the Super-Twisting Algorithm (STA), are a powerful tool for the design of controllers, observers and differentiators having very attractive dynamic features: they converge in finite time, even in presence of persistently acting bounded perturbations. This property, that we will call exactness, can be achieved because of the discontinuous nature of the STA. The design of control or observation algorithms based on Second Order Sliding Modes has been performed until now using either geometric or homogeneous approaches, but not Lyapunov methods. The reason for this situation is simple: only recently has been possible to find adequate Lyapunov functions for some of these algorithms. In this paper some recent advances in this direction will be presented and extended.
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页码:113 / 149
页数:37
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