dc.contributor.author | Borlaug, Ida-Louise Garmann | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.date.accessioned | 2020-09-02T12:05:53Z | |
dc.date.available | 2020-09-02T12:05:53Z | |
dc.date.created | 2020-09-01T11:01:29Z | |
dc.date.issued | 2020 | |
dc.identifier.isbn | 978-3-90714-402-2 | |
dc.identifier.uri | https://hdl.handle.net/11250/2676048 | |
dc.description.abstract | In this paper a novel adaptive generalized super-twisting algorithm is proposed for a class of systems whose perturbations and uncertain control coefficients are time- and state-dependent. The proposed approach uses dynamically adapted control gains, and it is proven that this ensures global finite-time convergence. A non-smooth strict Lyapunov function is used to obtain the conditions for the global finite-time stability. As a case study, it is also shown that the tracking errors of an articulated intervention AUV converge asymptotically to zero when the proposed adaptive generalized super-twisting algorithm is applied. A simulation study is performed that shows the effectiveness of the proposed algorithm. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | en_US |
dc.relation.ispartof | 2020 European Control Conference | |
dc.title | The generalized super-twisting algorithm with adaptive gains | en_US |
dc.type | Chapter | en_US |
dc.description.version | acceptedVersion | en_US |
dc.source.pagenumber | 1624-1631 | en_US |
dc.identifier.cristin | 1826417 | |
dc.relation.project | Norges forskningsråd: 223254 | en_US |
dc.description.localcode | © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | en_US |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |