A generalized super-twisting algorithm based on adaptive dual layer mechanism

Abstract

This article proposes a generalized super-twisting algorithm based on adaptive dual-layer mechanism (GSTA-ADL), which can be regarded as an extension of the adaptive dual-layer super-twisting algorithm (ADLSTA). The GSTA-ADL not only inherits the excellent performance of ADLSTA in achieving finite time stability against Lipschitz disturbance without overestimation, but also counteracts effectively the state-dependent disturbance by means of the generalized super-twisting algorithm (GSTA) with an adaptive gain. It can be proved that the state of the resulting closed-loop system converges into the equilibrium in finite time. Simulation results are finally provided to demonstrate the effectiveness of the proposed control method.