Lyapunov Stability Analysis of the Implicit Discrete-Time Twisting Control Algorithm
Lyapunov Stability Analysis of the Implicit Discrete-Time Twisting Control Algorithm
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DOI：
10.1109/tac.2019.2940323
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发表时间：
2020-06
影响因子：
6.8
通讯作者：
Olivier Huber;Vincent Acary;B. Brogliato
中科院分区：
文献类型：
--
作者：
Olivier Huber;Vincent Acary;B. Brogliato
考虑了一种隐式离散版本的扭转滑模控制算法。采用变分不等式的框架来定义控制输入值。这为控制器的分析和数值计算提供了基础。证明了控制器是定义良好的，离散闭环系统的不动点在李雅普诺夫意义下是有限时间全局稳定的。在无扰动情况下进行了分析，并通过数值仿真验证了该控制器在扰动作用下的有效性。
An implicit discrete-time version of the twisting sliding-mode control algorithm is considered. The framework of variational inequalities is used to define the control input values. This provides the foundation for both the analysis of the controller and the numerical computations. The controller is shown to be well-defined and the discrete-time closed-loop system's fixed point is finite-time globally stable in the sense of Lyapunov. The analysis is led in the unperturbed case, and numerical simulations demonstrate the efficiency of the proposed controller when a disturbance acts on the system.