Multivariable Super-Twisting Algorithm for Systems with Uncertain Input\n Matrix and Perturbations

2021/11/05 by Jaime A. Moreno, Moreno, Jaime A., Hector Riosand Luis Ovalle +3
Computer Science · Engineering · #Adaptive Control of Nonlinear Systems #Control and Dynamics of Mobile Robots #Distributed Control Multi-Agent Systems #FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.2111.03535

openalex publication_date 2021/11/05 · openalex created_date 2022/07/25 · openalex updated_date 2026/07/28

Abstract

This paper proposes a Lyapunov approach to the design of a multivariable\ngeneralized Super-Twisting algorithm (MGSTA), which is able to control a system\nwith perturbations and uncertain control matrix, both depending on time and the\nsystem states. The presented procedure shows that, under reasonable assumptions\nfor the uncertainties, it is always possible to find a set of constant gains\nfor the MGSTA in order to ensure global and robust finite-time stability of the\nsystem's outputs. Simulation results on an omnidirectional mobile robot\nillustrate the performance of the MGSTA.\n

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