Multivariable Super-Twisting Algorithm for Systems With Uncertain Input Matrix and Perturbations

This article proposes a Lyapunov approach to the design of multivariable generalized super-twisting algorithm (MGSTA), which is able control system with perturbations and uncertain matrix, both depending on time states. The presented procedure shows that, under reasonable assumptions for uncertainties, it always possible find set constant gains MGSTA in order ensure global robust finite-time stability system’s outputs. Simulation results an omnidirectional mobile robot illustrate performance MGSTA.