Super-twisting adaptive sliding mode control: A Lyapunov design

@article{Shtessel2010SupertwistingAS,
  title={Super-twisting adaptive sliding mode control: A Lyapunov design},
  author={Yuri B. Shtessel and Jaime A. Moreno and Franck Plestan and Leonid M. Fridman and Alexander S. Poznyak},
  journal={49th IEEE Conference on Decision and Control (CDC)},
  year={2010},
  pages={5109-5113}
}
A novel super-twisting adaptive sliding mode controller is proposed. A drift uncertain term is assumed to be bounded with unknown boundary. The proposed Lyapunov-based approach consists in using dynamically adapted control gains that ensure the establishment, in a finite time, of a second order sliding mode. Finite convergence time is estimated. A numerical example confirms the efficacy of the proposed adaptive super-twisting control. 
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