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

• 成果类型: Article
• 署名作者: Moreno, Jaime A.; Rios, Hector; Ovalle, Luis; Fridman, Leonid
• 署名单位: Universidad Nacional Autonoma de Mexico; Consejo Nacional de Ciencia y Tecnologia (CONACyT); Universidad Nacional Autonoma de Mexico
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3130880
• 发表日期: 2022
• 页码: 6716-6722
• 关键词: Robust control; sliding-mode control; super-twisting algorithm; uncertain systems

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.