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Conditioned Super-Twisting Algorithm for systems with saturated control action
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DOI：10.1016/j.automatica.2020.108921.png)
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Abstract
En 中文
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. (C) 2020 Elsevier Ltd. All rights reserved.
Keywords:
Sliding-mode control
Robust control
Control input saturation
Windup
Conditioning technique
Servomotors
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