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A New Controller Switching Between Linear and Twisting Algorithms

Abstract : It is well known that the twisting controller (TWC) is robust against perturbations but consumes large amounts of energy while the linear state feedback (LSF) is less robust but low energy consuming. This paper proposes a first step towards a trade-off between both algorithms (TWC and LSF) allowing to keep the robustness and to reduce the energy consumption. To achieve the trade-off, the exponent gain of the classical homogeneous controller introduced by Bhat and Bernstain in 1997 is switched between 0 (TWC) and 1 (LSF). The finite time convergence of the closed-loop system to a vicinity of the origin is established. Finally, some simulations that validate the effectiveness of the proposed controller are given. An additional result concerns the use of a dynamical law for the exponent gain.
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Submitted on : Thursday, September 20, 2018 - 3:16:03 PM
Last modification on : Friday, August 5, 2022 - 2:54:51 PM
Long-term archiving on: : Friday, December 21, 2018 - 12:38:28 PM


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  • HAL Id : hal-01876411, version 1


Elias Tahoumi, Malek Ghanes, Franck Plestan, Jean-Pierre Barbot. A New Controller Switching Between Linear and Twisting Algorithms. ACC 2018 - American Control Conference, Jun 2018, Milwaukee, Winconsin, United States. ⟨hal-01876411⟩



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