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dc.contributor.authorBorlaug, Ida-Louise Garmann
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorGravdahl, Jan Tommy
dc.date.accessioned2020-09-02T12:05:53Z
dc.date.available2020-09-02T12:05:53Z
dc.date.created2020-09-01T11:01:29Z
dc.date.issued2020
dc.identifier.isbn978-3-90714-402-2
dc.identifier.urihttps://hdl.handle.net/11250/2676048
dc.description.abstractIn 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.isoengen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.ispartof2020 European Control Conference
dc.titleThe generalized super-twisting algorithm with adaptive gainsen_US
dc.typeChapteren_US
dc.description.versionacceptedVersionen_US
dc.source.pagenumber1624-1631en_US
dc.identifier.cristin1826417
dc.relation.projectNorges forskningsråd: 223254en_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.ispublishedtrue
cristin.fulltextpostprint
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