Name
Abstract | ||
|---|---|---|
The super-twisting algorithm is a robust sliding-mode control law, which in the case of a saturated control input suffers from a windup effect. This contribution proposes a modified control law that is obtained by mitigating windup by means of the conditioning technique. Closed-loop stability is analyzed for bounded and Lipschitz continuous perturbations acting on a first-order linear time-invariant plant. Advantages compared to existing approaches are demonstrated both analytically, in terms of stability conditions, and numerically, in the course of simulations. An experiment considering the control of a servomotor demonstrates the practical usability, straightforward implementation and simple tuning of the proposed controller. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1016/j.automatica.2020.108921 | Automatica |
Keywords | DocType | Volume |
Sliding-mode control,Robust control,Control input saturation,Windup,Conditioning technique,Servomotors | Journal | 116 |
Issue | ISSN | Citations |
1 | 0005-1098 | 1 |
PageRank | References | Authors |
0.36 | 0 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Richard Seeber | 1 | 24 | 9.22 |
| Markus Reichhartinger | 2 | 61 | 13.35 |