Adaptive continuous twisting algorithm

Abstract

In this paper, an adaptive continuous twisting algorithm (ACTA) is presented. For double integrator, ACTA produces a continuous control signal ensuring finite time convergence of the states to zero. Moreover, the control signal generated by ACTA compensates the Lipschitz perturbation in finite time, i.e. its value converges to the opposite value of the perturbation. ACTA also keeps its convergence properties, even in the case that the upper bound of the derivative of the perturbation exists, but it is unknown.

Keywords:

• Sliding mode control
• adaptive control

Acknowledgements

The authors are grateful for the financial of CONACyT (Consejo Nacional de Ciencia y Tecnología) grants: 261737, 241171 CVU 419644 and Project 241171; PAPIIT-UNAM (Programa de Apoyo a Proyectos de Investigación e Innovación Tecnológica) IN 113614, IN 113613; DGAPA PASPA Program, and Fondo de Colaboración del II-FI UNAM IISGBAS-122-2014.

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

Consejo Nacional de Ciencia y Tecnologia, Fondo de Colaboracion del II-FI UNAM, Programa de Apoyo a Proyectos de Investigacion e Innovacion Tecnologica