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Design of Robust Supertwisting Algorithm Based Second-Order Sliding Mode Controller for Nonlinear Systems with Both Matched and Unmatched Uncertainty

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  • Marwa Jouini
  • Slim Dhahri
  • Anis Sellami

Abstract

This paper proposes a robust supertwisting algorithm (STA) design for nonlinear systems where both matched and unmatched uncertainties are considered. The main contributions reside primarily to conceive a novel structure of STA, in order to ensure the desired performance of the uncertain nonlinear system. The modified algorithm is formed of double closed-loop feedback, in which two linear terms are added to the classical STA. In addition, an integral sliding mode switching surface is proposed to construct the attractiveness and reachability of sliding mode. Sufficient conditions are derived to guarantee the exact differentiation stability in finite time based on Lyapunov function theory. Finally, a comparative study for a variable-length pendulum system illustrates the robustness and the effectiveness of the proposed approach compared to other STA schemes.

Suggested Citation

  • Marwa Jouini & Slim Dhahri & Anis Sellami, 2017. "Design of Robust Supertwisting Algorithm Based Second-Order Sliding Mode Controller for Nonlinear Systems with Both Matched and Unmatched Uncertainty," Complexity, Hindawi, vol. 2017, pages 1-8, December.
    • Handle: RePEc:hin:complx:1972921
    DOI: 10.1155/2017/1972921
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    Cited by:

    1. Hamza Khan & József K. Tar & Imre Rudas & Levente Kovács & György Eigner, 2018. "Receding Horizon Control of Type 1 Diabetes Mellitus by Using Nonlinear Programming," Complexity, Hindawi, vol. 2018, pages 1-11, April.
    2. Kamran Zeb & Tiago Davi Curi Busarello & Saif Ul Islam & Waqar Uddin & Kummara Venkata Guru Raghavendra & Muhammad Adil Khan & Hee-Je Kim, 2020. "Design of Super Twisting Sliding Mode Controller for a Three-Phase Grid-connected Photovoltaic System under Normal and Abnormal Conditions," Energies, MDPI, vol. 13(15), pages 1-21, July.

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