Nonlinear Disturbance Observer-Based Sliding-Mode Geometric Controller for Fully-Actuated Hexarotor

2021 ◽  
pp. 534-545
Author(s):  
Yuanhao Li ◽  
Yu Zhang ◽  
Yongliang Lin ◽  
Jiayan Wan
Keyword(s):  
Disturbance Observer ◽  
Sliding Mode ◽  
Nonlinear Disturbance Observer ◽  
Nonlinear Disturbance

scholarly journals Sliding mode control of the automobile electro-coating conveying mechanism with a nonlinear disturbance observer

2018 ◽  
Vol 10 (9) ◽  
pp. 168781401879574 ◽  
Author(s):  
Wei Yuan ◽  
Guoqin Gao
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
High Performance ◽  
Sliding Mode ◽  
External Disturbance ◽  
Nonlinear Disturbance Observer ◽  
Control Approach ◽  
Mode Control ◽  
Highly Nonlinear ◽  
Nonlinear Disturbance

The trajectory-tracking performance of the automobile electro-coating conveying mechanism is severely interrupted by highly nonlinear crossing couplings, unmodeled dynamics, parameter variation, friction, and unknown external disturbance. In this article, a sliding mode control with a nonlinear disturbance observer is proposed for high-accuracy motion control of the conveying mechanism. The nonlinear disturbance observer is designed to estimate not only the internal/external disturbance but also the model uncertainties. Based on the output of the nonlinear disturbance observer, a sliding mode control approach is designed for the hybrid series–parallel mechanism. Then, the stability of the closed-loop system is proved by means of a Lyapunov analysis. Finally, simulations with typical desired trajectory are presented to demonstrate the high performance of the proposed composite control scheme.

Research on Terminal Piecewise Sliding Mode for Excitation Control System Based on the Nonlinear Disturbance Observer

2014 ◽  
Vol 711 ◽  
pp. 297-302
Author(s):  
Xiao Feng Liu ◽  
Hong Zhang ◽  
He Qiao
Keyword(s):  
Disturbance Observer ◽  
Convergence Rates ◽  
Sliding Mode ◽  
Terminal Sliding Mode ◽  
Nonlinear Disturbance Observer ◽  
Disturbance Estimation ◽  
Guarantee System ◽  
Control Precision ◽  
Nonlinear Disturbance ◽  
High Control

Aiming at uncertainty and disturbance of the excitation system, we designed a kind of precise sliding mode controller with nonlinear disturbance observer that realized disturbance estimation and compensation. In order to obtain better convergence rates, based on the basis of fast terminal sliding mode surface, terminal piecewise sliding mode is adopted. Using the single machine infinite system, we have carried on the static and transient simulation. Simulation results show that control strategy adopted can guarantee system robustness to disturbance and has high control precision

A fault-tolerant attitude tracking control of spacecraft using an anti-unwinding robust nonlinear disturbance observer

2019 ◽  
Vol 233 (16) ◽  
pp. 6005-6018 ◽  
Author(s):  
Syed Muhammad Amrr ◽  
M Nabi ◽  
Pyare Mohan Tiwari
Keyword(s):  
Disturbance Observer ◽  
Controller Design ◽  
Simulation Analysis ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Actuator Faults ◽  
External Disturbances ◽  
Nonlinear Disturbance Observer ◽  
Attitude Tracking ◽  
Nonlinear Disturbance

This paper investigates the application of an integral sliding mode control with a robust nonlinear disturbance observer to obtain an anti-unwinding spacecraft attitude tracking response with robustness against external disturbances, inertia matrix uncertainties, and actuator faults. In the controller design, external disturbances, uncertainties, and actuator faults are lumped together and estimated by the robust nonlinear disturbance observer. The proposed robust nonlinear disturbance observer guarantees the convergence of estimated lumped disturbance error to origin in finite time. The estimated disturbance is then used in the controller as a feed-forward compensator. Further, an adaptive law is also incorporated in the proposed controller to ensure additional robustness. The stability of the overall system and anti-unwinding characteristic are proved using the Lyapunov stability theory. Finally, numerical simulation analysis is performed in the presence of all the sources of lumped disturbances. It is observed that the proposed control strategy is ensuring higher accuracy, good steady-state precision, and eliminates the unwinding phenomenon.

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