Conditioned Super-Twisting Algorithm for systems with saturated control action

• Autores: Richard Seeber, Markus Reichhartinger
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 116, 2020
• Idioma: inglés
• Texto completo no disponible (Saber más ...)
• Resumen

  • The super-twisting algorithm is a robust sliding-mode control law, which in the case of a saturated control input suffers from a windup effect. This contribution proposes a modified control law that is obtained by mitigating windup by means of the conditioning technique. Closed-loop stability is analyzed for bounded and Lipschitz continuous perturbations acting on a first-order linear time-invariant plant. Advantages compared to existing approaches are demonstrated both analytically, in terms of stability conditions, and numerically, in the course of simulations. An experiment considering the control of a servomotor demonstrates the practical usability, straightforward implementation and simple tuning of the proposed controller.