Super-twisting adaptive sliding mode control: a Lyapunov design

Yuri Shtessel (1) , Jaime Moreno (2) , Franck Plestan (3) , Leonid Fridman (4) , Alexander Poznyak (5)

1 UAH - University of Alabama in Huntsville
2 Electrica Y Computacion, Instituto de Ingeneria
3 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
4 Department of Postgraduate Study National Autonomous University of Mexico
5 CINVESTAV - Centro de Investigacion y de Estudios Avanzados del Instituto Politécnico Nacional

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

Domaines: Automatique

Yuri Shtessel, Jaime Moreno, Franck Plestan, Leonid Fridman, Alexander Poznyak. Super-twisting adaptive sliding mode control: a Lyapunov design. IEEE Conference on Decision and Control, 2010, Atlanta, United States. pp.1. ⟨hal-00626539⟩