Twisting sliding mode control with adaptation: Lyapunov design, methodology and application. (English) Zbl 1351.93038
Summary: A novel adaptive-gain twisting controller that is robust to bounded disturbances with unknown boundaries is proposed. The control algorithm is derived using the Lyapunov function technique. It is shown that an ideal or real second order sliding mode is established, and the adaptation algorithm does not overestimate the control gain. The efficacy of the proposed adaptive twisting control is experimentally verified on a mass-spring-damper system.
MSC:
| 93B12 | Variable structure systems |
| 93C40 | Adaptive control/observation systems |
| 93B35 | Sensitivity (robustness) |
| 93C73 | Perturbations in control/observation systems |
References:
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