Multivariable Super-Twisting Algorithm for Systems With Uncertain Input Matrix and Perturbations

Jaime A. Moreno; Hector Rios; Luis Ovalle; Leonid Fridman

doi:10.1109/TAC.2021.3130880

Multivariable Super-Twisting Algorithm for Systems With Uncertain Input Matrix and Perturbations

Jaime A. Moreno, Hector Rios, Luis Ovalle, Leonid Fridman

Research output: Contribution to journal › Article › peer-review

8 Scopus citations

Abstract

This article 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
Pages (from-to)	6716-6722
Number of pages	7
Journal	IEEE Transactions on Automatic Control
Volume	67
Issue number	12
DOIs	https://doi.org/10.1109/TAC.2021.3130880
State	Published - 1 Dec 2022

Bibliographical note

Funding Information:
This work was supported in part by the CONACYT under Grant 282013, in part by PAPIIT-UNAM under Grant IN106622 and Grant IN102121.

Publisher Copyright:
© 1963-2012 IEEE.

Keywords

Robust control
sliding-mode control
super-twisting algorithm
uncertain systems

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AU - Rios, Hector

AU - Ovalle, Luis

AU - Fridman, Leonid

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AB - This article 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.

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KW - sliding-mode control

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JF - IEEE Transactions on Automatic Control

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ER -

Multivariable Super-Twisting Algorithm for Systems With Uncertain Input Matrix and Perturbations

Abstract

Bibliographical note

Keywords

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