Nonlinear Disturbance Observer based Sliding Mode Control for a Class of Uncertain Nonaffine Nonlinear Systems

被引：0
|
作者：
Li, Zhongjuan [1 ]
Yang, Lingling [1 ]
机构：
[1] Guangdong Univ Technol, Sch Automat, Guangzhou 510006, Guangdong, Peoples R China
来源：
PROCEEDINGS OF THE 2015 INTERNATIONAL INDUSTRIAL INFORMATICS AND COMPUTER ENGINEERING CONFERENCE | 2015年
关键词：
Nonaffine Nonlinear Systems; Nonlinear Disturbance Observer; Sliding Mode Control; Taylor Expansion;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the sliding mode tracking control is proposed for a class of uncertain non-affine nonlinear systems via the nonlinear disturbance observer(NDOB). Based on the Taylor expansion method, the affine system is approximated to facilitate the desired control design. Then, the NDOB is adopted to estimate the unknown disturbance. Subsequently, based on approximated affine nonlinear model and the NDOB, the sliding mode tracking control is proposed for non-affine nonlinear systems with uncertainty. The control scheme can guarantee semi-global uniform boundedness of the closed-loop system signals as proved by Lyapunov analysis. Numerical simulation results are presented to illustrate the effectiveness of the proposed sliding mode tracking control scheme.
引用
收藏
页码：623 / 627
页数：5
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