Implementation of Super-Twisting Control: Super-Twisting and Higher Order Sliding-Mode Observer-Based Approaches
Implementation of Super-Twisting Control: Super-Twisting and Higher Order Sliding-Mode Observer-Based Approaches
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DOI：
10.1109/tie.2016.2523913
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发表时间：
2016-06-01
影响因子：
7.7
通讯作者：
Moreno, Jaime A.
中科院分区：
文献类型：
--
作者：
Chalanga, Asif;Kamal, Shyam;Moreno, Jaime A.
本文研究了使用超扭曲控制（STC）的扰动双积分系统的输出反馈稳定性。结果表明，当基于超扭曲观测器 (STO) 实现 STC 时，不可能在所选滑模表面上使用连续控制来实现二阶滑模 (SOSM)。提出了两种方法来规避上述问题。在第一种方法中，控制输入是不连续的，这对于实际系统来说可能是不理想的。在第二种方法中，提出了基于高阶滑模观测器（HOSMO）的连续STC，该观测器在所选滑模表面上实现了SOSM。为了简单起见，我们在这里只考虑扰动双积分器，它可以推广到任意阶系统。数值模拟和实验验证也显示了所提出方法的有效性。
In this paper, an output feedback stabilization of perturbed double-integrator systems using super-twisting control (STC) is studied. It is shown that when STC is implemented based on super-twisting observer (STO), then it is not possible to achieve second-order slidingmode (SOSM) using continuous control on the chosen sliding surface. Two methodologies are proposed to circumvent the above-mentioned problem. In the first method, control input is discontinuous, which may not be desirable for practical systems. In the second method, continuous STC is proposed based on higher order sliding mode observer (HOSMO) that achieves SOSM on the chosen sliding surface. For simplicity, we are considering here only the perturbed double integrator, which can be generalized for an arbitrary-order systems. Numerical simulations and experimental validation are also presented to show the effectiveness of the proposed method.