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Technical Brief

Heterogeneous Nonlinear Systems Synchronization based on Adaptive Super Twisting

[+] Author and Article Information
Oscar S. Salas

Faculty of Mechanical and Electrical Engineering, Autonomous University of Nuevo Leon, San Nicolas de los Garza, Mexico 66455
salvador.sp@gmail.com

Jesus DeLeon

Faculty of Mechanical and Electrical Engineering, Autonomous University of Nuevo Leon, San Nicolas de los Garza, Mexico 66455
drjleon@gmail.com

1Corresponding author.

ASME doi:10.1115/1.4039279 History: Received February 03, 2017; Revised December 21, 2017

Abstract

In this work, the synchronization of a group of heterogeneous uncertain nonlinear systems is addressed. A strategy based on Adaptive Super Twisting Algorithm (ASTA) is proposed, in order to synchronize the outputs of the heterogeneous systems. With the aim of implementing the proposed control strategy, unmeasurable states are estimated by means of High-Order Sliding Modes Differentiators. This control scheme increases robustness against unknown dynamics and disturbances, whose bounds are not required to be known. Finally, experimental results for synchronizing a heterogeneous system platform, constituted by an Inertial Stabilization Platform and a Helicopter of 2-DOF, are used to illustrate the performance of the proposed control scheme.

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