Adaptive Extended State Observer-Based Nonsingular Terminal Sliding Mode Control for the Aircraft Skin Inspection Robot

2019 ◽  
Vol 98 (3-4) ◽  
pp. 721-732 ◽  
Author(s):  
Xuewei Wu ◽  
Congqing Wang ◽  
Shaoyang Hua
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Terminal Sliding Mode Control ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Inspection Robot ◽  
Nonsingular Terminal Sliding Mode ◽  
Aircraft Skin

Additional Throttle Control of Small Gas Internal Combustion Generator Based on Extent State Observer and Terminal Sliding Mode Control

2014 ◽  
Vol 687-691 ◽  
pp. 255-259
Author(s):  
Zhe Bai ◽  
Zhong Jian Kang ◽  
Yan Shi Sun ◽  
Rui Ying Liu
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Internal Combustion ◽  
State Observer ◽  
Extended State Observer ◽  
Strong Nonlinearity ◽  
Terminal Sliding Mode Control ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Mode Control

As for the characteristics of strong nonlinearity and model uncertainty of gas internal combustion generator, an additional throttle controller based on extended state observer (ESO) and terminal sliding mode control is proposed in this paper on the basis of gas internal combustion generator’s main speed controller. After tracking the system states and uncertainty in the system mode as well as the external disturbance by using extended state observer, additional throttle controller is designed on the basis of terminal sliding mode control theory. The simulation result of an one machine-infinity bus system shows that the controller has good control effect and robustness, which will effectively improve the performance of gas internal combustion generator speed control system.

Extended state observer–based backstepping fast terminal sliding mode control for active suspension vibration

2020 ◽  
pp. 107754632095952
Author(s):  
Haoping Wang ◽  
Lei Chang ◽  
Yang Tian
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Active Suspension ◽  
State Observer ◽  
Extended State Observer ◽  
Terminal Sliding Mode Control ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

In this study, an extended state observer–based backstepping fast terminal sliding mode control is developed for the ride comfort of a full-car active suspension system. In the referred extended state observer–based backstepping fast terminal sliding mode control, the extended state observer is designed to estimate the lumped disturbances of external road excitation and uncertain dynamics. Then, a backstepping fast terminal sliding mode controller is used to track the desired trajectory reference which is obtained via a nonlinear filter. A virtual prototype of vehicle suspension is also built on ADAMS software as the simulated real-time controlled system. The co-simulation results of MATLAB/Simulink+ADAMS show that the proposed controller has better performance than the passive suspension and the active suspension using the traditional backstepping method whether under random road or bumpy road.

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