A Robust Adaptive One‐Sample‐Ahead Preview Super‐Twisting Sliding Mode Controller

ABSTRACT This article introduces a discrete‐time robust adaptive one‐sample‐ahead preview super‐twisting sliding mode controller. A stability analysis of the controller by Lyapunov criteria is developed to demonstrate its robustness in handling both matched and unmatched dynamics. In addition, the mathematical analysis shows that the controller's internal signals are limited, ensuring a globally stable and well‐behaved control system. The proposed algorithm's performance is evaluated through simulation results in MATLAB, as well as hardware‐in‐the‐loop testing in which the control algorithm is embedded into a digital signal processor, showcasing its feasibility for dealing with real‐world control challenges. A comparison with an adaptive one‐sample‐ahead preview controller is presented to further emphasize the controller's advantages in including the adaptive super‐twisting contribution. These results focus on regulating a challenging second‐order non‐minimum phase and unstable plant subjected to parametric variations and disturbances (in MATLAB) and a DC‐DC power converter (in controller hardware‐in‐the‐loop). The obtained results showcase the effectiveness of the proposed structure in achieving precise regulation and robustness under uncertain conditions. The results demonstrate the superiority of the proposed structure, as it achieves convergence of regulation errors to a finite residual set even in the presence of unmodeled dynamics.