Stability preserving maps for finite-time convergence: Super-twisting sliding-mode algorithm
The super-twisting algorithm (STA) has become the prototype of second-order sliding mode algorithm. It achieves finite time convergence by means of a continuous action, without using information about derivatives of the sliding constraint. Thus, chattering associated to traditional sliding-mode obse...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2013 |
| País: | Argentina |
| Institución: | Consejo Nacional de Investigaciones Científicas y Técnicas |
| Repositorio: | CONICET Digital (CONICET) |
| Idioma: | inglés |
| OAI Identifier: | oai:ri.conicet.gov.ar:11336/13578 |
| Acceso en línea: | http://hdl.handle.net/11336/13578 |
| Access Level: | acceso abierto |
| Palabra clave: | Stability Analysis Convergence Analysis Sliding Mode Stability Preserving Maps Super-Twisting Algorithm https://purl.org/becyt/ford/2.2 https://purl.org/becyt/ford/2 |
| Sumario: | The super-twisting algorithm (STA) has become the prototype of second-order sliding mode algorithm. It achieves finite time convergence by means of a continuous action, without using information about derivatives of the sliding constraint. Thus, chattering associated to traditional sliding-mode observers and controllers is reduced. The stability and finite-time convergence analysis have been jointly addressed from different points of view, most of them based on the use of scaling symmetries (homogeneity), or non-smooth Lyapunov functions. Departing from these approaches, in this contribution we decouple the stability analysis problem from that of finite-time convergence. A nonlinear change of coordinates and a time-scaling are used. In the new coordinates and time–space, the transformed system is stabilized using any appropriate standard design method. Conditions under which the combination of the nonlinear coordinates transformation and the time-scaling is a stability preserving map are given. Provided convergence in the transformed space is faster than O(1/τ )—where τ is the transformed time— convergence of the original system takes place in finite-time. The method is illustrated by designing a generalized super-twisting observer able to cope with a broad class of perturbations. |
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