A Variational Approach to the Design of Multivariable Discrete-time Super-twisting-like Algorithms

Félix Miranda-Villatoro (1)

1 TRIPOP - Modélisation, simulation et commande des systèmes dynamiques non lisses

A family of discrete-time, super-twisting-like algorithms is presented. The algorithms are naturally vector-valued and are described in an implicit fashion, reminiscent of backward-Euler discretization schemes. The well-posedness of the closed-loop is established and the robust stability, against a family of external disturbances, is thoroughly studied. Implementation strategies, involving splitting-algorithms from convex optimization, are also discussed and compared. Finally, numerical simulations show the performance of the proposed schemes.

Mots clés: Discrete-time systems; Sliding-mode control; Proximal-point algorithms; Splitting algorithms.

Domaines: Mathématiques [math]; Automatique; Systèmes et contrôle [cs.SY]; Optimisation et contrôle [math.OC]; Automatique / Robotique

Félix Miranda-Villatoro. A Variational Approach to the Design of Multivariable Discrete-time Super-twisting-like Algorithms. 2024. ⟨hal-04511213v3⟩