| Autor: |
Andritsch, Benedikt, Watermann, Lars, Koch, Stefan, Reichhartinger, Markus, Reger, Johann, Horn, Martin |
| Rok vydání: |
2023 |
| Předmět: |
|
| Druh dokumentu: |
Working Paper |
| DOI: |
10.1109/TAC.2024.3370494 |
| Popis: |
In this paper a novel discrete-time realization of the super-twisting controller is proposed. The closed-loop system is proven to converge to an invariant set around the origin in finite time. Furthermore, the steady-state error is shown to be independent of the controller gains. It only depends on the sampling time and the unknown disturbance. The proposed discrete-time controller is evaluated comparative to previously published discrete-time super-twisting controllers by means of the controller structure and in extensive simulation studies. The continuous-time super-twisting controller is capable of rejecting any unknown Lipschitz-continuous perturbation and converges in finite time. Furthermore, the convergence time decreases, if any of the gains is increased. The simulations demonstrate that the closed-loop systems with each of the known controllers lose one of these properties, introduce discretization-chattering, or do not yield the same accuracy level as with the proposed controller. The proposed controller, in contrast, is beneficial in terms of the above described properties. |
| Databáze: |
arXiv |
| Externí odkaz: |
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