Barrier Function-Based Adaptive Super-Twisting Controller

In this article, a variable gain super-twisting algorithm based on a barrier function is proposed for a class of first order disturbed systems with uncertain control coefficient and whose disturbances derivatives are bounded but the upper bounds of those derivatives are unknown. The specific feature of this algorithm is that it can ensure the convergence of the output variable and maintain it in a predefined neighborhood of zero independent from the upper bound of the disturbances derivatives. Moreover, thanks to the structure of the barrier function, it forces the gain to decrease together with the output variable and the control signal follows the absolute value of the disturbances.