Variable Gain Super-Twisting Sliding Mode Control

被引：290
|
作者：
Gonzalez, Tenoch [1 ]
Moreno, Jaime A. [2 ]
Fridman, Leonid [3 ]
机构：
[1] Univ Nacl Autonoma Mexico, Programa Maestria & Doctorado Ingn Elect Control, Coyoacan 14240, Mexico
[2] Univ Nacl Autonoma Mexico, Inst Ingn, Mexico City 04510, DF, Mexico
[3] CINVESTAV IPN, Dept Control Automat, Mexico City 14740, DF, Mexico
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2012年 / 57卷 / 08期
关键词：
Chattering effect; discontinuous systems; Lyapunov functions; robust control; second-order sliding modes; SYSTEMS; ORDER;
D O I：
10.1109/TAC.2011.2179878
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 note, a novel, Lyapunov-based, variable-gain super-twisting algorithm (STA) is proposed. It ensures for linear time invariant systems the global, finite-time convergence to the desired sliding surface, when the matched perturbations/uncertainties are Lipschitz-continuous functions of time, that are bounded, together with their derivatives, by known functions. The proposed algorithm has similar properties to the variable-gain first-order sliding mode control, but it provides alleviation to the chattering phenomenon. The results are verified experimentally.
引用
收藏
页码：2100 / 2105
页数：6
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