论文标题
使用基于被动率的设计的MIMO超级扭曲控制器
MIMO Super-Twisting Controller using a passivity-based design
论文作者
论文摘要
本文针对具有相对程度的非线性系统提出了一种新型的MIMO同质超扭曲算法，具有时间和状态相反的不确定对照矩阵。不确定性由常数但未知的左矩阵因子表示。与通常的标量增益相反，建立了充分的稳定条件。为此，使用了基于被动性解释的平滑lyapunov函数。此外，使用统一的分析方法获得了经典不连续的超偏转算法的连续和均匀近似。
A novel MIMO homogeneous Super-Twisting Algorithm is proposed in this paper for nonlinear systems with relative degree one, having a time and state-varying uncertain control matrix. The uncertainty is represented by a constant but unknown left matrix factor. Sufficient conditions for stability with full-matrix control gains are established, in contrast to the usual scalar gains. For this a smooth Lyapunov function, based on a passivity interpretation, is used. Moreover, continuous and homogeneous approximations of the classical discontinuous Super-Twisting algorithm are obtained, using a unified analysis method.
