In this article, a second-order system, which is affected by disturbances and uncertainties, with a saturating actuator is considered. A novel robust feedback control law is designed based on the sliding mode technique. The twisting and the continuous twisting algorithms are incorporated into the design, which is based on level curves of a Lyapunov function. The performance of the standard continuous twisting algorithm is greatly improved in the case that the initial condition of the system is far away from the origin. A parameter setting for the controller is given by establishing global finite-time stability properties of the closed-loop system origin. Feasibility and effectiveness of the proposed approach are indicated in a real-world application as well as numerical simulation.

中文翻译：

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基于李雅普诺夫的饱和连续扭曲算法

在本文中，考虑了带有饱和执行器的受干扰和不确定性影响的二阶系统。基于滑模技术设计了一种新颖的鲁棒反馈控制律。基于Lyapunov函数的水平曲线，将扭曲和连续扭曲算法合并到设计中。在系统的初始条件远离原点的情况下，标准连续扭曲算法的性能大大提高。通过建立闭环系统原点的全局有限时间稳定性属性，可以为控制器设置参数。所提出的方法的可行性和有效性在实际应用以及数值模拟中都有说明。