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Electrical Engineering and Systems Science > Systems and Control

arXiv:2111.03535 (eess)
[Submitted on 5 Nov 2021]

Title:Multivariable Super-Twisting Algorithm for Systems with Uncertain Input Matrix and Perturbations

Authors:Jaime A. Moreno, Hector Riosand Luis Ovalle, Leonid Fridman
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Abstract:This paper proposes a Lyapunov approach to the design of a multivariable generalized Super-Twisting algorithm (MGSTA), which is able to control a system with perturbations and uncertain control matrix, both depending on time and the system states. The presented procedure shows that, under reasonable assumptions for the uncertainties, it is always possible to find a set of constant gains for the MGSTA in order to ensure global and robust finite-time stability of the system's outputs. Simulation results on an omnidirectional mobile robot illustrate the performance of the MGSTA.
Comments: Submitted to IEEE Transactions on Automatic Control
Subjects: Systems and Control (eess.SY)
Cite as: arXiv:2111.03535 [eess.SY]
  (or arXiv:2111.03535v1 [eess.SY] for this version)
  https://doi.org/10.48550/arXiv.2111.03535

Submission history

From: Jaime A. Moreno [view email]
[v1] Fri, 5 Nov 2021 14:57:04 UTC (704 KB)
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