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

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

Resultado de la investigación: Contribución a una revistaArtículorevisión exhaustiva

Resumen

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.

Idioma originalInglés
PublicaciónIEEE Transactions on Automatic Control
DOI
EstadoAceptada/en prensa - 2021
Publicado de forma externa

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