文章基本信息

标题：Lyapunov-design for a super-twisting sliding-mode controller using the certainty-equivalence principle
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作者：Alexander Barth ; Markus Reichhartinger ; Johann Reger 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：11
页码：860-865
DOI：10.1016/j.ifacol.2015.09.298
语种：English
出版社：Elsevier
摘要：AbstractIn this article, a Lyapunov-based control concept is presented combining variable structure and adaptive control. The considered system class comprises single-input systems which are affected by structured and unstructured uncertainties. The design is based on a Lyapunov function for the super-twisting algorithm. This Lyapunov function is exploited to derive the adaptive part of the proposed controller using the certainty equivalence principle. It is demonstrated that this combination of sliding-mode and adaptive control methodology allows to relax the boundedness condition known from the super-twisting algorithm while reducing the sliding-mode gain significantly. The effectiveness of the presented concept is demonstrated in detail, using results from numerical simulations and experimental data of a laboratory testbed.
关键词：Keywordssliding-modeuncertain systemsrobust controladaptive controlLyapunov theory