Implementation of Super-Twisting Control: Super-Twisting and Higher Order Sliding-Mode Observer-Based Approaches

被引:419
作者
Chalanga, Asif [1 ]
Kamal, Shyam [2 ]
Fridman, Leonid M. [3 ]
Bandyopadhyay, Bijnan [1 ]
Moreno, Jaime A. [4 ]
机构
[1] Indian Inst Technol, Interdisciplinary Program Syst & Control Engn, Bombay 400076, Maharashtra, India
[2] Kyushu Inst Technol, Dept Syst Design & Informat, Kitakyushu, Fukuoka 8040015, Japan
[3] Inst Regelungs & Automatisierungstech, A-8010 Graz, Austria
[4] Univ Nacl Autnoma Mexico, Inst Ingn, Dept Elect & Comp, Mexico City 04360, DF, Mexico
关键词
Higher order sliding-mode observer (HOSMO); super-twisting control (STC); super-twisting observer (STO); STABILIZATION; DESIGN; SYSTEM;
D O I
10.1109/TIE.2016.2523913
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, an output feedback stabilization of perturbed double-integrator systems using super-twisting control (STC) is studied. It is shown that when STC is implemented based on super-twisting observer (STO), then it is not possible to achieve second-order slidingmode (SOSM) using continuous control on the chosen sliding surface. Two methodologies are proposed to circumvent the above-mentioned problem. In the first method, control input is discontinuous, which may not be desirable for practical systems. In the second method, continuous STC is proposed based on higher order sliding mode observer (HOSMO) that achieves SOSM on the chosen sliding surface. For simplicity, we are considering here only the perturbed double integrator, which can be generalized for an arbitrary-order systems. Numerical simulations and experimental validation are also presented to show the effectiveness of the proposed method.
引用
收藏
页码:3677 / 3685
页数:9
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