Robust PI-Based Non-Singular Terminal Synergetic Control for Nonlinear Systems via Hybrid Nonlinear Disturbance Observer

被引：0
|
作者：
Hagh, Yashar Shabbouei [1 ]
Fekih, Afef [2 ]
Handroos, Heikki [1 ]
机构：
[1] LUT Univ, Dept Mech Engn, Lab Intelligent Machines, Lappeenranta 53850, Finland
[2] Univ Louisiana, Dept Elect & Comp Engn, Lafayette, LA 70504 USA
来源：
IEEE ACCESS | 2021年 / 9卷
关键词：
Uncertainty; Convergence; Manifolds; Disturbance observers; Robustness; Kalman filters; Licenses; Robust control; nonlinear disturbance observer; servo-hydraulic system; four-bar linkage mechanism; Lyapunov stability criteria; FAULT-TOLERANT CONTROL; SLIDING MODE CONTROLLER; CONTROL SCHEME; DESIGN;
D O I：
10.1109/ACCESS.2021.3094554
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes a novel robust proportional integral non-singular terminal synergetic control (PI-NTSC) for a class of affine nonlinear systems. To counteract the effects of the disturbances, a hybrid nonlinear disturbance observer (HNDOB) scheme is proposed to estimate the matched and mismatched disturbances. A novel proportional integral non-singular terminal synergetic control (PI-NTSC) is proposed for a class of affine nth-order systems. The stability of the PI-NTSC approach is proven using the Lyapunov stability theory. Its effectiveness and applicability is evaluated through simulations of a four-bar linkage mechanism and a servo-hydraulic system. The proposed HNDOB-based PI-NTSC is characterized by a finite time convergence rate, simple implementation, better disturbance rejection ability to both matched and mismatched uncertainties, and chattering free dynamics compared to conventional sliding mode control.
引用
收藏
页码：97401 / 97414
页数：14
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