TY - GEN
T1 - A Lyapunov approach to second-order sliding mode controllers and observers
AU - Moreno, Jaime A.
AU - Osorio, Marisol
PY - 2008
Y1 - 2008
N2 - In this paper a strong Lyapunov function is obtained, for the first time, for the supertwisting algorithm, an important class of second order sliding modes (SOSM). This algorithm is widely used in the sliding modes literature to design controllers, observers and exact differentiators. The introduction of a Lyapunov function allows not only to study more deeply the known properties of finite time convergence and robustness to strong perturbations, but also to improve the performance by adding linear correction terms to the algorithm. These modification allows the system to deal with linearly growing perturbations, that are not endured by the basic supertwisting algorithm. Moreover, the introduction of Lyapunov functions opens many new analysis and design tools to the Higher Order Sliding Modes research area.
AB - In this paper a strong Lyapunov function is obtained, for the first time, for the supertwisting algorithm, an important class of second order sliding modes (SOSM). This algorithm is widely used in the sliding modes literature to design controllers, observers and exact differentiators. The introduction of a Lyapunov function allows not only to study more deeply the known properties of finite time convergence and robustness to strong perturbations, but also to improve the performance by adding linear correction terms to the algorithm. These modification allows the system to deal with linearly growing perturbations, that are not endured by the basic supertwisting algorithm. Moreover, the introduction of Lyapunov functions opens many new analysis and design tools to the Higher Order Sliding Modes research area.
UR - http://www.scopus.com/inward/record.url?scp=62949230418&partnerID=8YFLogxK
U2 - 10.1109/CDC.2008.4739356
DO - 10.1109/CDC.2008.4739356
M3 - Ponencia publicada en las memorias del evento con ISBN
AN - SCOPUS:62949230418
SN - 9781424431243
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 2856
EP - 2861
BT - Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 47th IEEE Conference on Decision and Control, CDC 2008
Y2 - 9 December 2008 through 11 December 2008
ER -