Sliding Mode Control for Uncertain Systems with Time-Varying Delays via Predictor Feedback and Super-Twisting Observer
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arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866918106884997120 |
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| author | Pinto, Hardy Oliveira, Tiago Roux Hsu, Liu |
| author_facet | Pinto, Hardy Oliveira, Tiago Roux Hsu, Liu |
| contents | 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 considered that part of the state vector is not available for real-time measurement. To address this, the proposed approach combines an open-loop predictor with a state observer designed using the Super-Twisting Algorithm, aiming to compensate for the delays and estimate the unmeasured state components. Specifically, the nonlinear observer-based framework enables the reconstruction of unmodeled fault signals without assuming that they originate from a known exogenous system, offering robustness against parametric uncertainties. Meanwhile, the predictor forwards the delayed output in time. Subsequently, a sliding mode control law is formulated to enforce an ideal sliding mode and ensure global stabilization, even under a broader class of perturbations, unmodeled disturbances, parametric uncertainties, and delays, owing to the integration of the Super-Twisting observer. Numerical simulations illustrate the efficiency of the proposed approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_21281 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Sliding Mode Control for Uncertain Systems with Time-Varying Delays via Predictor Feedback and Super-Twisting Observer Pinto, Hardy Oliveira, Tiago Roux Hsu, Liu Optimization and Control Systems and Control 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 considered that part of the state vector is not available for real-time measurement. To address this, the proposed approach combines an open-loop predictor with a state observer designed using the Super-Twisting Algorithm, aiming to compensate for the delays and estimate the unmeasured state components. Specifically, the nonlinear observer-based framework enables the reconstruction of unmodeled fault signals without assuming that they originate from a known exogenous system, offering robustness against parametric uncertainties. Meanwhile, the predictor forwards the delayed output in time. Subsequently, a sliding mode control law is formulated to enforce an ideal sliding mode and ensure global stabilization, even under a broader class of perturbations, unmodeled disturbances, parametric uncertainties, and delays, owing to the integration of the Super-Twisting observer. Numerical simulations illustrate the efficiency of the proposed approach. |
| title | Sliding Mode Control for Uncertain Systems with Time-Varying Delays via Predictor Feedback and Super-Twisting Observer |
| topic | Optimization and Control Systems and Control |
| url | https://arxiv.org/abs/2507.21281 |