A Lyapunov approach to second-order sliding mode controllers and observers

Jaime A. Moreno, Marisol Osorio

Producción científica: Capítulo del libro/informe/acta de congresoPonencia publicada en las memorias del evento con ISBNrevisión exhaustiva

896 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaProceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas2856-2861
Número de páginas6
ISBN (versión impresa)9781424431243
DOI
EstadoPublicada - 2008
Publicado de forma externa
Evento47th IEEE Conference on Decision and Control, CDC 2008 - Cancun, México
Duración: 9 dic. 200811 dic. 2008

Serie de la publicación

NombreProceedings of the IEEE Conference on Decision and Control
ISSN (versión impresa)0743-1546
ISSN (versión digital)2576-2370

Conferencia

Conferencia47th IEEE Conference on Decision and Control, CDC 2008
País/TerritorioMéxico
CiudadCancun
Período9/12/0811/12/08

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