Abstract
This paper proposes a Lyapunov approach to the design of a multivariable generalized Super-Twisting algorithm (MGSTA), which is able to control a system with perturbations and uncertain control matrix, both depending on time and the system states. The presented procedure shows that, under reasonable assumptions for the uncertainties, it is always possible to find a set of constant gains for the MGSTA in order to ensure global and robust finite-time stability of the system's outputs. Simulation results on an omnidirectional mobile robot illustrate the performance of the MGSTA.
Original language | English |
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Journal | IEEE Transactions on Automatic Control |
DOIs | |
State | Accepted/In press - 2021 |
Externally published | Yes |
Bibliographical note
Publisher Copyright:IEEE
Keywords
- Convergence
- Jacobian matrices
- Mobile robots
- Perturbation methods
- Robust control
- Sliding-mode control
- Super-Twisting algorithm
- Symmetric matrices
- Transmission line matrix methods
- Uncertain systems
- Wheels