Super-twisting sliding mode controller with self-tuning adaptive gains
Résumé
In this paper, a newly developed strategy for adaptive super-twisting sliding mode control is proposed. The designed algorithm provides self-tuning gains in order to achieve better performance against unknown perturbations with various magnitudes. The proposed adaptive protocol has been modified and it is different from those studied in the literature, since it only has one parameter which significantly reduces the tuning effort. In this approach, the rate of gains variations are tuned in accordance with the received data from the estimated upper bound of imposed disturbances, while the remaining parameter is just associated with the targeted accuracy in the vicinity of the origin. On the basis of Lyapunov’s theory, the convergence of states is proved in the sense of finite-time stability. Numerical simulations have been provided to demonstrate the effectiveness of the proposed method.