A simplified version of adaptive super-twisting control

被引：19

作者：

Gutierrez, Susana, V ^{[1
]}

De Leon-Morales, Jesus ^{[1
]}

Plestan, Franck ^{[2
]}

Salas-Pena, Oscar ^{[1
]}

机构：

[1] Univ Autonoma Nuevo Leon, Fac Ingn Mecan & Elect, Dept Elect Engn, San Nicolas De Los Garza 66451, NL, Mexico

[2] Ecole Cent Nantes LS2N, UMR CNRS 6004, Nantes, France

来源：

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2019年 / 29卷 / 16期

关键词：

adaptive super twisting algorithm; Lyapunov approach; nonlinear control; SLIDING-MODE CONTROL; METHODOLOGY; ADAPTATION; DESIGN;

D O I：

10.1002/rnc.4681

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, a simplified super-twisting control with adaptive gain is proposed for a class of nonlinear uncertain systems. A strong Lyapunov function is constructed to design a sliding mode controller with adaptive gain. Furthermore, the analysis of the finite time convergence towards the equilibrium point of the closed-loop system is detailed. Regarding previous works from literature, the main contribution of this approach is the simplification of the gain tuning process by maintaining a high level of performance. Finally, simulation results for tracking control of a quadrotor are given to show the performance of the proposed algorithm.

引用

页码：5704 / 5719

页数：16

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