{"title":"自适应三阶连续扭曲算法","authors":"Jesús Mendoza‐Avila, J. Moreno, L. Fridman","doi":"10.1109/VSS.2018.8460265","DOIUrl":null,"url":null,"abstract":"For a triple integrator with Lipschitz disturbances Continuous Twisting Algorithm of Third Order (3-CTA) provides finite-time convergence to zero by means of continuous control signal. However, gains design of 3-CTA needs the knowledge of fourth derivative of the output which is difficult to obtain. In this paper, an adaptive version of 3-CTA is presented. An adaptation law is used in order to increase the gains until a level allowing to reject perturbations and achieving convergence to fourth order sliding set. Additionally, experimental results of the implementation of adaptive 3-CTA on an Inertial Wheel Pendulum are presented.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Adaptive Continuous Twisting Algorithm of Third Order\",\"authors\":\"Jesús Mendoza‐Avila, J. Moreno, L. Fridman\",\"doi\":\"10.1109/VSS.2018.8460265\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"For a triple integrator with Lipschitz disturbances Continuous Twisting Algorithm of Third Order (3-CTA) provides finite-time convergence to zero by means of continuous control signal. However, gains design of 3-CTA needs the knowledge of fourth derivative of the output which is difficult to obtain. In this paper, an adaptive version of 3-CTA is presented. An adaptation law is used in order to increase the gains until a level allowing to reject perturbations and achieving convergence to fourth order sliding set. Additionally, experimental results of the implementation of adaptive 3-CTA on an Inertial Wheel Pendulum are presented.\",\"PeriodicalId\":127777,\"journal\":{\"name\":\"2018 15th International Workshop on Variable Structure Systems (VSS)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-07-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 15th International Workshop on Variable Structure Systems (VSS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/VSS.2018.8460265\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 15th International Workshop on Variable Structure Systems (VSS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/VSS.2018.8460265","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Adaptive Continuous Twisting Algorithm of Third Order
For a triple integrator with Lipschitz disturbances Continuous Twisting Algorithm of Third Order (3-CTA) provides finite-time convergence to zero by means of continuous control signal. However, gains design of 3-CTA needs the knowledge of fourth derivative of the output which is difficult to obtain. In this paper, an adaptive version of 3-CTA is presented. An adaptation law is used in order to increase the gains until a level allowing to reject perturbations and achieving convergence to fourth order sliding set. Additionally, experimental results of the implementation of adaptive 3-CTA on an Inertial Wheel Pendulum are presented.
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