Sliding mode control for a class of uncertain nonlinear system based on disturbance observer

被引：222
|
作者：
Chen, Mou [1 ]
Chen, Wen-Hua [2 ]
机构：
[1] Nanjing Univ Aeronaut & Astronaut, Automat Coll, Nanjing 210016, Peoples R China
[2] Univ Loughborough, Dept Aeronaut & Automot Engn, Loughborough LE11 3TU, Leics, England
来源：
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING | 2010年 / 24卷 / 01期
关键词：
uncertain nonlinear system; disturbance observer; sliding mode control; adaptive control; Lyapunov method; NEURAL-NETWORKS; ADAPTIVE-CONTROL; ROBUST; STABILIZATION;
D O I：
10.1002/acs.1110
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, a sliding mode control (SMC) scheme is proposed for a class of nonlinear systems based on disturbance observers. For a nonlinear system, the disturbance that cannot be directly measured is estimated using a nonlinear disturbance observer. By choosing an appropriate nonlinear gain function, the disturbance observer can well approximate the unknown disturbance. Based on the output of the disturbance observer, an SMC scheme is presented for the nonlinear system, and the stability of the closed-loop system is established using Lyapunov method. Finally, two simulation examples are presented to illustrate the features and the effectiveness of the proposed disturbance-observer-based SMC scheme. Copyright (C) 2009 John Wiley & Sons, Ltd.
引用
收藏
页码：51 / 64
页数：14
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