An integral extension technique for continuous homogeneous state‐feedback control laws preserving nominal performance. (29th September 2020)

• Record Type: Journal Article
• Authors: Seeber, Richard; Moreno, Jaime A.
• Other Names: Fridman Leonid guestEditor.; Efimov Denis guestEditor.; Laghrouche Salah guestEditor.
• Is Part Of: International journal of robust and nonlinear control. Volume 31:Number 9(2021)
• Page Start: 3480
• Page End: 3498
• Publication Date: 2020-09-29
• Subjects: finite‐time convergence -- integral extension -- nonlinear control -- sliding mode control -- state feedback -- weighted homogeneity; Automatic control -- Periodicals; Control theory -- Periodicals; Nonlinear systems -- Periodicals; 629.836
• DOI: 10.1002/rnc.5173
• Languages: English
• ISSNs: 1049-8923

Abstract

Summary: This paper proposes a technique to extend a nominal homogeneous state‐feedback control law by continuous or discontinuous integral terms. Compared to pure state feedback, this permits to suppress non‐vanishing perturbations that are either constant or Lipschitz continuous with respect to time. The proposed technique seeks to do this while maintaining nominal performance in the sense that the nominal control signal and closed‐loop behavior is not modified in the unperturbed case. The class of controllers thus obtained is shown to include the well‐known super‐twisting algorithm as a special case. Simulations comparing the technique to other approaches demonstrate its intuitive tuning and show a performance preserving effect also in the perturbed case.