TY - JOUR A2 - Boubaker, Olfa AU - Jouini, Marwa AU - Dhahri, Slim AU - Sellami, Anis PY - 2017 DA - 2017/12/13 TI - Design of Robust Supertwisting Algorithm Based Second-Order Sliding Mode Controller for Nonlinear Systems with Both Matched and Unmatched Uncertainty SP - 1972921 VL - 2017 AB - This paper proposes a robust supertwisting algorithm (STA) design for nonlinear systems where both matched and unmatched uncertainties are considered. The main contributions reside primarily to conceive a novel structure of STA, in order to ensure the desired performance of the uncertain nonlinear system. The modified algorithm is formed of double closed-loop feedback, in which two linear terms are added to the classical STA. In addition, an integral sliding mode switching surface is proposed to construct the attractiveness and reachability of sliding mode. Sufficient conditions are derived to guarantee the exact differentiation stability in finite time based on Lyapunov function theory. Finally, a comparative study for a variable-length pendulum system illustrates the robustness and the effectiveness of the proposed approach compared to other STA schemes. SN - 1076-2787 UR - https://doi.org/10.1155/2017/1972921 DO - 10.1155/2017/1972921 JF - Complexity PB - Hindawi KW - ER -