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Modified Implicit Discretization of the Super-Twisting Controller
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DOI：10.1109/TAC.2024.3370494.png)
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摘要
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In this article, a novel discrete-time realization of the super-twisting controller is proposed. The closed-loop system is proven to converge to an invariant set around the origin in finite time. Furthermore, the steady-state error is shown to be independent of the controller gains. It only depends on the sampling time and the unknown disturbance. The proposed discrete-time controller is evaluated comparative to previously published discrete-time super-twisting controllers by means of the controller structure and in extensive simulation studies. The continuous-time super-twisting controller is capable of rejecting any unknown Lipschitz-continuous perturbation and converges in finite time. Furthermore, the convergence time decreases, if any of the gains is increased. The simulations demonstrate that the closed-loop systems with each of the known controllers lose one of these properties, introduce discretization-chattering, or do not yield the same accuracy level as with the proposed controller. The proposed controller, in contrast, is beneficial in terms of the above described properties.
Keyword:
Steady-state
Perturbation methods
Closed loop systems
Convergence
Noise measurement
Doppler effect
Automation
Backward Euler discretization
discrete-time control
implicit discretization
sliding mode control
super-twisting algorithm
super-twisting control
期刊
IF:
7
论文数:
1.3W
被引数:
6.7W
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