Higher Order Super-Twisting for Perturbed Chains of Integrators

Salah Laghrouche (1) , Mohamed Harmouche , Yacine Chitour (2)

1 UTBM - Université de Technologie Belfort-Montbéliard
2 L2S - Laboratoire des signaux et systèmes

In this paper, we present a generalization of the super-twisting algorithm for perturbed chains of integrators of arbitrary order. This higher order super-twisting (HOST) controller is homogeneous with respect to a family of dilations and is continuous. It is built as a dynamic controller (with respect to the state variable of the chain of integrators) and the convergence analysis is performed by the use of a homogeneous strict Lyapunov function which is explicitly constructed. The effectiveness of the controller is finally illustrated with simulations for a chain of integrators of order four, first pure then perturbed, where we compare the performances of two HOST controllers.

Mots clés: Finite-time stabilization; Lyapunov function; sliding mode

Domaines: Automatique / Robotique

Salah Laghrouche, Mohamed Harmouche, Yacine Chitour. Higher Order Super-Twisting for Perturbed Chains of Integrators. IEEE Transactions on Automatic Control, 2017, 62 (7), pp.3588-3593. ⟨10.1109/TAC.2017.2670918⟩. ⟨hal-02307513⟩