Design of robust supertwisting algorithm based second-order sliding mode controller for nonlinear systems with both matched and unmatched uncertainty. (English) Zbl 1380.93076
Summary: This paper proposes a robust SuperTwisting Algorithm (STA) design for nonlinear systems where both matched and unmatched uncertainties are considered. The main contributions reside primarily to conceive a novel structure of STA, in order to ensure the desired performance of the uncertain nonlinear system. The modified algorithm is formed of double closed-loop feedback, in which two linear terms are added to the classical STA. In addition, an integral sliding mode switching surface is proposed to construct the attractiveness and reachability of sliding mode. Sufficient conditions are derived to guarantee the exact differentiation stability in finite time based on Lyapunov function theory. Finally, a comparative study for a variable-length pendulum system illustrates the robustness and the effectiveness of the proposed approach compared to other STA schemes.
MSC:
| 93B12 | Variable structure systems |
| 93B40 | Computational methods in systems theory (MSC2010) |
| 93C10 | Nonlinear systems in control theory |
| 93D30 | Lyapunov and storage functions |
| 93B35 | Sensitivity (robustness) |
Keywords:
robust supertwisting algorithm (STA); nonlinear systems; uncertainties; integral sliding mode switching surface; exact differentiation stability; Lyapunov function theoryReferences:
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