Super-twisting adaptive sliding mode control: a Lyapunov design
Résumé
A novel super-twisting adaptive sliding mode controller is proposed. A drift uncertain term is assumed to be bounded with unknown boundary. The proposed approach consists in using dynamically adapted control gains that ensure the establishment, in a finite time, of a second order sliding mode. Finite convergence time is estimated. A numerical example confirms the efficacy of the proposed adaptive super- twisting control.