The super-twisting second-order sliding-mode algorithm is modified in order to design a velocity observer for uncertain mechanical systems. finite time convergence of the proved. Thus, can be designed independently controller. A discrete version considered and corresponding accuracy estimated.

The robustness properties of integral sliding-mode controllers are studied. This note shows how to select the projection matrix in such a way that euclidean norm resulting perturbation is minimal. It also shown when minimum attained, not amplified. selection particularly useful if control be combined with other methods further robustify against unmatched perturbations. H/sub /spl infin// taken as special case. Simulations support general analysis and show effectiveness this particular combination.

By the early 1980s control community had perceived that main advantages of sliding mode control, i.e. robustness to matched disturbances and a finite time convergence, were offset by side effect, named chattering 1, caused mainly unmodelled cascade dynamics. The latter increases system's relative degree perturbs ideal mode, which exists in system with original (ideal) input–output dynamics 1-3. In order overcome problem higher (HOSM) was introduced PhD dissertation Arie Levant (Levantovsky)...

The differentiators based on the Super-Twisting Algorithm (STA) yield finite-time and theoretically exact convergence to derivative of input signal, whenever this is Lipschitz. However, time grows unboundedly when initial conditions differentiation error grow. In technical note a Uniform Robust Exact Differentiator (URED) introduced. URED STA modification includes high-degree terms providing finite-time, with that bounded by some constant independent error. Strong Lyapunov functions are used...

In this paper, an output feedback stabilization of perturbed double-integrator systems using super-twisting control (STC) is studied. It shown that when STC implemented based on observer (STO), then it not possible to achieve second-order sliding mode (SOSM) continuous the chosen surface. Two methodologies are proposed circumvent above-mentioned problem. first method, input discontinuous, which may be desirable for practical systems. second higher order (HOSMO) achieves SOSM For simplicity,...

A systematic approach to the chattering analysis in systems with second-order sliding modes is developed. The neglected actuator dynamics considered be main cause of real systems. magnitude oscillations nonlinear unmodeled fast actuators driven by sliding-mode control generalized suboptimal (2-SMC G-SO) algorithms evaluated. Sufficient conditions for existence orbitally stable periodic motions are found terms properties corresponding Poincare maps. For linear 2-SMC G-SO algorithms, tools...

In this note, a novel, Lyapunov-based, variable-gain super-twisting algorithm (STA) is proposed. It ensures for linear time invariant systems the global, finite-time convergence to desired sliding surface, when matched perturbations/uncertainties are Lipschitz-continuous functions of time, that bounded, together with their derivatives, by known functions. The proposed has similar properties first-order mode control, but it provides alleviation chattering phenomenon. results verified experimentally.

An analysis of two most popular continuous sliding-mode algorithms: The power-fractional algorithm and a second-order known as the super-twisting is carried out in frequency domain with use describing function method. It shown that presence an actuator, transient process converges to periodic motion. Parameters this motion are analyzed. A few examples considered illustrate obtained results.

Abstract In this paper, a higher‐order sliding‐mode observer is proposed to estimate exactly the observable states and asymptotically unobservable ones in multi‐input–multi‐output nonlinear systems with unknown inputs stable internal dynamics. addition can be identified asymptotically. Numerical examples illustrate efficacy of observer. Copyright © 2007 John Wiley & Sons, Ltd.

We consider the problem of designing an integral sliding mode controller to reduce disturbance terms that act on nonlinear systems with state-dependent drift and input matrix. The general case both, matched unmatched disturbances affecting system is addressed. It proved definition a suitable manifold generation modes upon it guarantees minimization effect terms, which takes place when are completely rejected ones not amplified. A simulation proposed technique, applied dynamically feedback...

Abstract In this paper, a feedback linearization‐based controller with high‐order sliding mode observer running parallel is applied to quadrotor unmanned aerial vehicle. The works as an and estimator of the effect external disturbances such wind noise. whole observer–estimator–control law constitutes original approach vehicle regulation minimal number sensors. Performance issues controller–observer are illustrated in simulation study that takes into account parameter uncertainties...

The singularly perturbed relay control systems (SPRCS) as mathematical models of chattering in the small neighborhood switching surface sliding mode are examined. Sufficient conditions for existence and stability fast periodic solutions to SPRCS found. It is shown that slow motions such approximately described by equations derived from variables averaging along motions. In general case, when a plant contain nonlinearly, averaged do not coincide with equivalent or Filippov's definition (1988)...

A novel super-twisting adaptive sliding mode controller is proposed. drift uncertain term assumed to be bounded with unknown boundary. The proposed Lyapunov-based approach consists in using dynamically adapted control gains that ensure the establishment, a finite time, of second order mode. Finite convergence time estimated. numerical example confirms efficacy control.

A second-order sliding-mode observer based on the modified super-twisting algorithm providing finite time exact observation is applied for system identification. The value of equivalent output injection used to identify perturbations directly. Continuous versions least square and forgetting factor methods are proposed unknown time-invariant parameters respectively.

Abstract A high-order sliding-mode observer is designed for linear time invariant systems with single output and unknown bounded input. It provides the global observation of state under sufficient necessary conditions strong observability or detectability. The finite-time-convergent exact in case. accuracy proposed identification schemes estimated via sampling step magnitude deterministic noises. results are extended to multi-input multi-output Keywords: High order sliding...