Proper Implicit Discretization of the Super-Twisting Controller -- without and with Actuator Saturation
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arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866917867768774656 |
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| author | Seeber, Richard Andritsch, Benedikt |
| author_facet | Seeber, Richard Andritsch, Benedikt |
| contents | 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 implicit or semi-implicit discretization variants, a new proper implicit discretization for the super-twisting controller is proposed. This discretization is then extended to the conditioned super-twisting controller, which mitigates windup in presence of actuator constraints by means of the conditioning technique. It is proven that the proposed controllers achieve best possible worst-case performance subject to similarly simple stability conditions as their continuous-time counterparts. Numerical simulations and comparisons demonstrate and illustrate the results. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2406_16094 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Proper Implicit Discretization of the Super-Twisting Controller -- without and with Actuator Saturation Seeber, Richard Andritsch, Benedikt Systems and Control 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 implicit or semi-implicit discretization variants, a new proper implicit discretization for the super-twisting controller is proposed. This discretization is then extended to the conditioned super-twisting controller, which mitigates windup in presence of actuator constraints by means of the conditioning technique. It is proven that the proposed controllers achieve best possible worst-case performance subject to similarly simple stability conditions as their continuous-time counterparts. Numerical simulations and comparisons demonstrate and illustrate the results. |
| title | Proper Implicit Discretization of the Super-Twisting Controller -- without and with Actuator Saturation |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2406.16094 |