Sliding-mode algorithms with improved time- and state-dependent perturbation rejection

HERNAN HAIMOVICH

San Juan

Congreso; XIX Reunión de Trabajo en Procesamiento de la Información y Control, RPIC'2021; 2021

Application of sliding-mode control strategies based on (generalized) super-twisting (ST) algorithms in the presence of time- and state-dependent perturbations is highly challenging. One of the difficulties lies in the occurrence of a kind of algebraic loop: the bounds required for control tuning require bounds on the control variable, which itself depends on the tuning parameters. Existing results were able to solve this problem by means of one form of generalized ST, provided that someperturbation-related functions admit constant bounds. In this paper, we provide an important generalization by employing disturbance-tailored ST (DTST) ideas. The current results allow for far greater applicability, since the bounds required need not be constant as long as their growth can be related to the sliding variable.