Lyapunov stability analysis of the implicit discrete-time twisting control algorithm

Olivier Huber 1 Vincent Acary 1, 2 Bernard Brogliato 1
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
Abstract : An implicit discrete-time version of the twisting sliding-mode control algorithm is considered. The framework of variational inequalities is used to define the control input values. This provides the foundation for both the analysis of the controller and the numerical computations. The controller is shown to be well-defined and the discrete-time closed-loop system's fixed point is finite-time globally stable in the sense of Lyapunov.
Type de document :
Pré-publication, Document de travail
2019
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https://hal.inria.fr/hal-01622092
Contributeur : Bernard Brogliato <>
Soumis le : mercredi 23 janvier 2019 - 10:06:24
Dernière modification le : mercredi 23 janvier 2019 - 12:13:25

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TAC_R2-2.pdf
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  • HAL Id : hal-01622092, version 2

Citation

Olivier Huber, Vincent Acary, Bernard Brogliato. Lyapunov stability analysis of the implicit discrete-time twisting control algorithm. 2019. 〈hal-01622092v2〉

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