Adaptive Exponent Parameter: a Robust Control Solution Balancing Between Linear and Twisting Controllers

Elias Tahoumi (1, 2) , Franck Plestan (1, 2) , Malek Ghanes (1, 2) , Jean-Pierre Barbot (3)

1 ECN - École Centrale de Nantes
2 LS2N - Laboratoire des Sciences du Numérique de Nantes
3 ENSEA - Ecole Nationale Supérieure de l'Electronique et de ses Applications

In this paper, a new controller is proposed, based on a well known homogeneous controller. The suggested controller gives rise to an efficient trade-off between the standard linear state feedback and twisting algorithm. As a consequence, the obtained controller has the advantages of both controllers with their drawbacks reduced. To achieve this objective, a parameter on the exponent terms of the homogeneous controller is adapted. The convergence of the closed loop system to a vicinity of the origin is given. Finally, some simulations validate the effectiveness of the proposed controller.

Domaines: Automatique

Elias Tahoumi, Franck Plestan, Malek Ghanes, Jean-Pierre Barbot. Adaptive Exponent Parameter: a Robust Control Solution Balancing Between Linear and Twisting Controllers. Variable Structure Systems, 2018, Graz, Austria. ⟨hal-01876406⟩