Related papers: Multi-layer barrier function-based adaptive super-…
In this paper, a variable gain super-twisting algorithm based on a barrier function is proposed for a class of first order disturbed systems with uncertain control coefficient and whose disturbances derivatives are bounded but they are…
In digital sliding mode control implementations, discretization-induced chattering and inter-sample blindness can severely degrade the closed-loop performance, especially in case of fast perturbations. This paper addresses these challenges…
This paper investigates the stability properties and performance of super-twisting sliding-mode control loops subject to periodic perturbations. Although there exist conditions on the control gains that guarantee finite-time stability of…
In this paper, two classes of continuous higher order adaptive sliding mode controllers based on barrier functions are developed for a perturbed chain of integrators with unbounded perturbations. Both classes provide finite-time convergence…
In this paper a novel discrete-time realization of the super-twisting controller is proposed. The closed-loop system is proven to converge to an invariant set around the origin in finite time. Furthermore, the steady-state error is shown to…
Obtaining prescribed accuracy bounds in super-twisting sliding mode control loops often falls short in terms of the applicability of the controller in high-performance systems. This is due to the fact that the selection of the controller…
This paper introduces a novel stabilization control strategy for linear time-invariant systems affected by known time-varying measurement delays and matched unknown nonlinear disturbances, which may encompass actuator faults. It is…
In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…
In this paper, we present Lyapunov-based {\color{black}time varying} controllers for {\color{black}fast} stabilization of a perturbed chain of integrators with bounded uncertainties. We refer to such controllers as {\color{black}time…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
This paper deals with the stabilization of a class of linear infinite-dimensional systems with unbounded control operators and subject to a boundary disturbance. We assume that there exists a linear feedback law that makes the origin of the…
In this study, we present a novel sliding mode safety-critical controller designed to address both stability and safety concerns in a class of nonlinear uncertain systems. The controller features two feedback loops: an inner loop designed…
This paper proposes a new adaptation methodology to find the control inputs for a class of nonlinear systems with time-varying bounded uncertainties. The proposed method does not require any prior knowledge of the uncertainties including…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
To obtain precise motion control of wafer stages, an adaptive neural network and fractional-order super-twisting control strategy is proposed. Based on sliding mode control (SMC), the proposed controller aims to address two challenges in…
This paper presents a novel fuzzy logic based Adaptive Super-twisting Sliding Mode Controller for the control of dynamic uncertain systems. The proposed controller combines the advantages of Second order Sliding Mode Control, Fuzzy Logic…
We consider the problem of adaptive stabilization for discrete-time, multi-dimensional linear systems with bounded control input constraints and unbounded stochastic disturbances, where the parameters of the true system are unknown. To…
The discrete-time implementation of the super-twisting sliding mode controller for a plant with disturbances with bounded slope, zero-order hold actuation, and actuator constraints is considered. Motivated by restrictions of existing…
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…
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…