A Modified Adaptive Dual Layer Generalized Super-Twisting Controller and Disturbance Observer

In this paper, a modified generalized adaptive dual layer super-twisting algorithm is proposed. The conventional adaptive dual-layer super-twisting algorithm is limited to handling Lipschitz disturbances; therefore, the adaptation strategy for the two gains of the super-twisting algorithm is revised. Consequently, the robustness of the adaptive dual-layer control is augmented, allowing the adaptive structure to stabilize the system amidst Lipschitz and linearly growing disturbances. Simultaneously, the desirable attributes of the original adaptive dual-layer structure, such as the elimination of control gain overestimation and the lack of disturbance bounds requirements, are preserved. Through the implementation of the proposed method, the applicability of the adaptive dual-layer super-twisting control is substantially broadened. To demonstrate the effectiveness of the proposed method and its superiority over other extant adaptive super-twisting control algorithms, simulation tests are conducted.