Search

In this article, a second‐order system, which is affected by disturbances and uncertainties, with a saturating actuator is considered. A novel robust feedback control law is designed based on the sliding mode technique. The twisting and the continuous twisting algorithms are incorporated into the design, which is based on level curves of a Lyapunov function. The performance of the standard continuous twisting algorithm is greatly improved in the case that the initial condition of the system is far away from the origin. A parameter setting for the controller is given by establishing global finite‐time stability properties of the closed‐loop system origin. Feasibility and effectiveness of the proposed approach are indicated in a real‐world application as well as numerical simulation. [ABSTRACT FROM AUTHOR]

In this paper, a feedback control law adopting the super-twisting algorithm is designed such that a continuous and saturated control signal is generated to regulate a first-order system affected by disturbances. For the unperturbed as well as perturbed systems under the proposed control law, global finite-time stability properties are established. In order to indicate the feasibility and effectiveness of the approach, numerical simulations are employed. [ABSTRACT FROM AUTHOR]

An algorithm for adaptation of Levant's differentiator (LD) gains is designed for the case when the upper bound of second derivative of base signal exists but it is unknown. The barrier function is employed in this algorithm in order to adapt both gains of LD. Thanks to its feature, from the initial time moment it can be guaranteed that the error of estimation of signal belongs to a predefined vicinity of zero. Moreover, the proposed barrier algorithm can ensure the convergence of LD to some vicinity of the first derivative. This barrier adaptation enjoys two main advantages: it ensures a fast convergence and could indicate that LD does not converge in the case of noisy signal. [ABSTRACT FROM AUTHOR]