ScholarWorks@성균관대학교

초록

Although the conventional super-twisting reaching law (CSTRL) maintains the desired tracking performance for disturbed systems, its implementation is challenging due to its dependence on accurate system dynamics. To mitigate this dependence and reduce chattering of CSTRL, a novel exponential super-twisting reaching law (NESTRL) is proposed, leveraging the dynamic adaptability of the exponential reaching law and eliminating chattering. By using NESTRL, the proposed controller can achieve a fast response without chattering. Additionally, a comprehensive procedure for finite convergence time analysis is provided. The convergence conditions of the system's state variables are determined using a Lyapunov function, and the stability of system is proven using an algebraic Lyapunov function. Finally, simulations and experimental results demonstrate that the proposed approach is valid and effective, showing improvements compared to the traditional super-twisting active disturbance rejection control and linear active disturbance rejection control in sensorless control. © 2024 Chinese Automatic Control Society and John Wiley & Sons Australia, Ltd.

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