Super-twisting sliding mode differentiation for improving PD controllers performance of second order systems.

Authors :: Salgado I
Chairez I
Camacho O
Yañez C
Source :: ISA transactions [ISA Trans] 2014 Jul; Vol. 53 (4), pp. 1096-106. Date of Electronic Publication: 2014 May 23.
Publication Year :: 2014
Abstract: Designing a proportional derivative (PD) controller has as main problem, to obtain the derivative of the output error signal when it is contaminated with high frequency noises. To overcome this disadvantage, the supertwisting algorithm (STA) is applied in closed-loop with a PD structure for multi-input multi-output (MIMO) second order nonlinear systems. The stability conditions were analyzed in terms of a strict non-smooth Lyapunov function and the solution of Riccati equations. A set of numerical test was designed to show the advantages of implementing PD controllers that used STA as a robust exact differentiator. The first numerical example showed the stabilization of an inverted pendulum. The second example was designed to solve the tracking problem of a two-link robot manipulator.<br /> (Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.)

Subjects :: Computer Simulation
Algorithms
Feedback
Models, Theoretical
Nonlinear Dynamics

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