MIMO Super-Twisting Controller using a passivity-based design
Systems and Control
2022-08-09 v1 Systems and Control
Abstract
A novel MIMO homogeneous Super-Twisting Algorithm is proposed in this paper for nonlinear systems with relative degree one, having a time and state-varying uncertain control matrix. The uncertainty is represented by a constant but unknown left matrix factor. Sufficient conditions for stability with full-matrix control gains are established, in contrast to the usual scalar gains. For this a smooth Lyapunov function, based on a passivity interpretation, is used. Moreover, continuous and homogeneous approximations of the classical discontinuous Super-Twisting algorithm are obtained, using a unified analysis method.
Cite
@article{arxiv.2208.04276,
title = {MIMO Super-Twisting Controller using a passivity-based design},
author = {Juan F. Garcia-Mathey and Jaime A. Moreno},
journal= {arXiv preprint arXiv:2208.04276},
year = {2022}
}