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

Abstract : 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.
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Submitted on : Thursday, September 20, 2018 - 3:14:32 PM
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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⟩

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