Multivariable Super-Twisting Algorithm for Systems With Uncertain Input Matrix and Perturbations

被引：24
作者：
Moreno, Jaime A. [1 ]
Rios, Hector [2 ,3 ]
Ovalle, Luis [4 ]
Fridman, Leonid [4 ,5 ]
机构：
[1] Univ Nacl Autonoma Mexico, Inst Ingn, Mexico City 04510, DF, Mexico
[2] Tecnol Nacl Mexico, IT La Laguna, Torreon 27000, Coahuila, Mexico
[3] Catedras CONACYT, Mexico City 03940, DF, Mexico
[4] Univ Nacl Autonoma Mexico, Fac Ingn, Mexico City 04510, DF, Mexico
[5] Sirius Univ Sci & Technol, Ctr Informat Technol & AI, Soci 354340, Russia
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2022年 / 67卷 / 12期
关键词：
Robust control; sliding-mode control; super-twisting algorithm; uncertain systems; SLIDING MODE CONTROL; DESIGN; PROOF;
D O I：
10.1109/TAC.2021.3130880
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This article proposes a Lyapunov approach to the design of a multivariable generalized super-twisting algorithm (MGSTA), which is able to control a system with perturbations and uncertain control matrix, both depending on time and the system states. The presented procedure shows that, under reasonable assumptions for the uncertainties, it is always possible to find a set of constant gains for the MGSTA in order to ensure global and robust finite-time stability of the system's outputs. Simulation results on an omnidirectional mobile robot illustrate the performance of the MGSTA.
引用
收藏
页码：6716 / 6722
页数：7
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