Multivariable Adaptive Dual Layer Super-Twisting Algorithm

In this paper, a novel Multivariable Adaptive Super-Twisting Algorithm is proposed. The adaptation scheme is based on a dual-layer structure and does not require the knowledge of upper bounds for the matched disturbances. By exploiting information extracted from the equivalent control, it is possible to adapt both gains to enforce a second-order sliding mode while avoiding a conservative overestimation of the disturbance, which is important to mitigate the undesirable effects of chattering. Copyright (C) 2020 The Authors.