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Journal Articles IEEE Transactions on Automatic Control Year : 2020

The implicit discretization of the super-twisting sliding-mode control algorithm

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Abstract

This paper deals with the analysis of the time-discretization of the super-twisting algorithm, with an implicit Euler method. It is shown that the discretized system is well-posed. The existence of a Lyapunov function with convex level sets is proved for the continuoustime closed-loop system. Then the global asymptotic Lyapunov stability of the unperturbed discrete-time closedloop system is proved. The convergence to the origin in a finite number of steps is proved also in the unperturbed case. Numerical simulations demonstrate the superiority of the implicit method with respect to an explicit discretization with significant chattering reduction.
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Dates and versions

hal-02336599 , version 1 (29-10-2019)

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Cite

Bernard Brogliato, Andrey Polyakov, Denis Efimov. The implicit discretization of the super-twisting sliding-mode control algorithm. IEEE Transactions on Automatic Control, 2020, 65 (8), pp.3707-3713. ⟨10.1109/TAC.2019.2953091⟩. ⟨hal-02336599⟩
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