Work

MIMO Super-Twisting Controller using a passivity-based design

Year: 2024

Type: article

Abstract: A novel MIMO Super-Twisting Algorithm is proposed in this paper for nonlinear systems with relative degree one, having a time and state-varying uncertain control matrix. The uncertainty is represented by a time and state-varying but unknown left matrix factor. Sufficient conditions for stability with full-matrix control gains are established, in contrast to the usual scalar gains. For this a smooth Lyapunov function, based on a passivity interpretation, is used. Moreover, continuous and homogeneous approximations of the classical discontinuous Super-Twisting algorithm are obtained, using a unified analysis method. Moreover, the proposed Super-Twisting algorithm is of the discontinuous type, in contrast to the usual unitary type.

Source: Journal of the Franklin Institute

DOI: 10.1016/j.jfranklin.2024.107296

Authors: Jaime A. Moreno, Juan F. García-Mathey

Institutions: Instituto de Ingeniería, Universidad Nacional Autónoma de México

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $2,700

Funders: Consejo Nacional de Ciencia y Tecnología, Consejo Nacional de Ciencia y Tecnología, Paraguay