How to implement Super-Twisting Controller based on sliding mode observer?

Author

Chalanga, Asif ; Kamal, S. ; Fridman, L. ; Bandyopadhyay, Bitan ; Moreno, Jaime A.

Author_Institution

Syst. & Control Eng., Indian Inst. of Technol. Bombay, Mumbai, India

fYear

2014

fDate

June 29 2014-July 2 2014

Firstpage

1

Lastpage

6

Abstract

Implementation of the Super-Twisting Control (STC) requires the first time derivative of the sliding surface must be Lipschitz in time. It is shown that if we will use STC based on the absolutely continuous estimation of the surface, controller can not be implemented. In this paper two methodologies are proposed to avoid the above problem. For simplicity we are considering here only perturbed double integrator which can be generalized for an arbitrary order. Numerical simulations are also presented to show the effectiveness of the proposed method.

Keywords

continuous systems; numerical analysis; observers; perturbation techniques; variable structure systems; STC; arbitrary order; continuous estimation; first time derivative; numerical simulations; perturbed double integrator; sliding mode observer; sliding surface; super-twisting controller; Abstracts; Conferences; Decision support systems; Indexes; Observers; Variable structure systems; Super-Twisting Control (STC); Super-Twisting observer (STO); higher order sliding mode observer;

fLanguage

English

Publisher

ieee

Conference_Titel

Variable Structure Systems (VSS), 2014 13th International Workshop on

Conference_Location

Nantes

Type

conf

DOI

10.1109/VSS.2014.6881145

Filename

6881145