Super twisting observer based full order sliding mode control


In this paper, a super twisting observer-based full order sliding mode control is proposed for a non-linear uncertain system. The super twisting observer estimates an \(n{-}\)th system state and the derivative of the \(n{-}\)th system state. It ensures finite convergence of estimation error to zero. The proposed method retains attractive features of full order sliding mode control like finite-time convergence of system states, continuous control, and the system’s full order dynamics when the system is in the sliding mode. The scheme is validated on a 2-DOF helicopter system laboratory setup, and the performance is compared with two well-known observers, i.e., a non-linear extended state observer and a sliding mode observer-based control using two-link manipulator example.

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Correspondence to Ajay Borkar.

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Borkar, A., Patil, P.M. Super twisting observer based full order sliding mode control. Int. J. Dynam. Control (2021).

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  • Full order sliding mode control
  • Super twisting observer
  • Non-linear uncertain system