期刊
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
卷 31, 期 9, 页码 3480-3498出版社
WILEY
DOI: 10.1002/rnc.5173
关键词
finite-time convergence; integral extension; nonlinear control; sliding mode control; state feedback; weighted homogeneity
资金
- Christian Doppler Research Association
- Austrian Federal Ministry for Digital and Economic Affairs
- National Foundation for Research, Technology and Development
- PAPIIT-UNAM [IN110719]
This paper proposes a technique to extend a nominal state-feedback control law by integral terms to suppress non-vanishing perturbations. The new approach maintains nominal performance and includes the super-twisting algorithm as a special case. Simulations demonstrate intuitive tuning and performance-preserving effects even in perturbed cases.
This paper proposes a technique to extend a nominal homogeneous state-feedback control law by continuous or discontinuous integral terms. Compared to pure state feedback, this permits to suppress non-vanishing perturbations that are either constant or Lipschitz continuous with respect to time. The proposed technique seeks to do this while maintaining nominal performance in the sense that the nominal control signal and closed-loop behavior is not modified in the unperturbed case. The class of controllers thus obtained is shown to include the well-known super-twisting algorithm as a special case. Simulations comparing the technique to other approaches demonstrate its intuitive tuning and show a performance preserving effect also in the perturbed case.
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