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  • Autor
    • Seeber, Richard
    • Horn, Martin
  • TitelGuaranteeing Disturbance Rejection and Control Signal Continuity for the Saturated Super-Twisting Algorithm
  • Datei
  • DOI10.1109/LCSYS.2019.2917054
  • Persistent Identifier
  • Erschienen inIEEE Control Systems Letters
  • Band3
  • Erscheinungsjahr2019
  • Heft3
  • Seiten715-720
  • LicenceCC BY
  • ZugriffsrechteCC-BY
  • Download Statistik262
  • Peer ReviewJa
  • AbstractThe saturated super-twisting algorithm is a second order sliding-mode control law for robust control in the presence of a bounded control input. Its implementation is based on a switching logic and the resulting control signal typically exhibits a single jump discontinuity. This contribution presents novel stability conditions that allow for tuning the algorithm such that perturbation amplitudes up to the control input bound are rejected with a continuous control signal. A simplified control law is furthermore proposed, which is equivalent to the original algorithm while being easier to implement.