The implicit discretization of the super-twisting sliding-mode control algorithm - TRIPOP Accéder directement au contenu
Article Dans Une Revue IEEE Transactions on Automatic Control Année : 2020

The implicit discretization of the super-twisting sliding-mode control algorithm

Résumé

This paper deals with the analysis of the time-discretization of the super-twisting algorithm, with an implicit Euler method. It is shown that the discretized system is well-posed. The existence of a Lyapunov function with convex level sets is proved for the continuoustime closed-loop system. Then the global asymptotic Lyapunov stability of the unperturbed discrete-time closedloop system is proved. The convergence to the origin in a finite number of steps is proved also in the unperturbed case. Numerical simulations demonstrate the superiority of the implicit method with respect to an explicit discretization with significant chattering reduction.
Fichier principal
Vignette du fichier
BBSTA.pdf (536.41 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-02336599 , version 1 (29-10-2019)

Identifiants

Citer

Bernard Brogliato, Andrey Polyakov, Denis Efimov. The implicit discretization of the super-twisting sliding-mode control algorithm. IEEE Transactions on Automatic Control, 2020, 65 (8), pp.3707-3713. ⟨10.1109/TAC.2019.2953091⟩. ⟨hal-02336599⟩
157 Consultations
879 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More