Linear extended state observer based sliding mode disturbance decoupling control for nonlinear multivariable systems with uncertainty

2016 ◽  
Vol 14 (4) ◽  
pp. 967-976 ◽  
Author(s):  
Hai-Long Xing ◽  
Dong-Hai Li ◽  
Juan Li ◽  
Cai-Hong Zhang
Keyword(s):  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Decoupling Control ◽  
Multivariable Systems ◽  
Extended State ◽  
Disturbance Decoupling ◽  
Linear Extended State Observer

scholarly journals Sliding Mode Control Based on High-Order Linear Extended State Observer for Near Space Vehicle

2021 ◽  
Vol 2021 ◽  
pp. 1-19
Author(s):  
Ouxun Li ◽  
Ju Jiang ◽  
Li Deng ◽  
Shutong Huang
Keyword(s):  
Sliding Mode ◽  
External Disturbance ◽  
State Observer ◽  
High Order ◽  
Extended State Observer ◽  
Sliding Mode Controller ◽  
Extended State ◽  
Order Linear ◽  
Near Space ◽  
Linear Extended State Observer

Aiming at the uncertainty and external disturbance sensitivity of the near space vehicles (NSV), a novel sliding mode controller based on the high-order linear extended state observer (LESO) is designed in this paper. In the proposed sliding mode controller, the double power reaching law is adopted to enhance the state convergence rate, and the high-order LESO is designed to improve the antidisturbance ability. Moreover, the appropriate observer bandwidth and extended order are selected to further reduce or even eliminate the disturbance by analyzing their influences on the observer performance. Finally, the simulation demonstrations are given for the NSV control system with uncertain parameters and external disturbances. The theoretical analyses and simulation results consistently indicate that the proposed high-order LESO with carefully selected extended order and observer bandwidth has better performance than the traditional ones for the nonlinear NSV system with parametric uncertainty and external disturbance.

scholarly journals Robust Sliding Mode Control for a 2-DOF Lower Limb Exoskeleton Base on Linear Extended State Observer

2020 ◽  
Vol 2 (2) ◽  
Author(s):  
Zhenlei CHEN ◽  
Qing GUO ◽  
Yao YAN ◽  
Dan JIANG
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Sliding Mode ◽  
External Disturbance ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Lower Limb Exoskeleton ◽  
Mode Control ◽  
Linear Extended State Observer

For the 2- Degree of Freedom (DOF) lower limb exoskeleton, to ensure the system robustness and dynamic performance, a linear-extended-state-observer-based (LESO) robust sliding mode control is proposed to not only reduce the influence of parametric uncertainties, unmodeled dynamics, and external disturbance but also estimate the unmeasurable real-time joint angular velocity directly. Then, via Lyapunov technology, the stability of the corresponding LESO and controller is proven. The appropriate and reasonable simulation was carried out to verify the effectiveness of the proposed LESO and exoskeleton controller.

Sliding Mode Control Based on Linear Extended State Observer for DC-to-DC Buck-Boost Power Converter System with Mismatched Disturbances

2021 ◽  
pp. 1-1
Author(s):  
Jesus Linares-Flores ◽  
Jose Antonio JAJA Juarez-Abad ◽  
Arturo Hernandez-Mendez ◽  
Omar Castro-Heredia ◽  
Jose Fermi Guerrero-Castellanos ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
State Observer ◽  
Power Converter ◽  
Extended State Observer ◽  
Extended State ◽  
Mode Control ◽  
Linear Extended State Observer ◽  
Mismatched Disturbances

A Novel Speed-Sensorless Suspension Decoupling Control Strategy for Bearingless Motor Based on Linear Extended State Observer

2011 ◽  
Vol 383-390 ◽  
pp. 5598-5604
Author(s):  
Qiang Ding
Keyword(s):  
Control Strategy ◽  
State Observer ◽  
Suspension System ◽  
Extended State Observer ◽  
Decoupling Control ◽  
Current Loop ◽  
Extended State ◽  
Speed Sensorless ◽  
Bearingless Motor ◽  
Linear Extended State Observer

In this paper, a novel speed-sensorless suspension decoupling control strategy for bearingless motor was proposed based on linear Extended State Observer (ESO). In the proposed control strategy, a second-order and a third-order linear-ESO algorithm were added respectively into torque d-q axis current-loop and suspension system x-y direction displacement-loop. A product of electrical angular speed and torque system d-q axis current and a product of torque q axis flux and suspension system d-q axis current were defined as disturbances in order to use the linear-ESO algorithm to estimate the defined disturbances. By obtaining speed information and compensation for disturbance force, the motor can work on speed-sensorless condition and traditional decoupling algorithm can be simplified. The simulation results show that the proposed control strategy can realize accurate speed estimation and guarantee stable suspension under the rated speed.

scholarly journals Fault-tolerant control for a class of n-order systems based on fast terminal sliding mode and extended state observer

2021 ◽  
pp. 002029402110286
Author(s):  
Pu Yang ◽  
Peng Liu ◽  
ChenWan Wen ◽  
Huilin Geng
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Singular Control ◽  
Fault Tolerant Control ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode ◽  
Terminal Sliding Surface

This paper focuses on fast terminal sliding mode fault-tolerant control for a class of n-order nonlinear systems. Firstly, when the actuator fault occurs, the extended state observer (ESO) is used to estimate the lumped uncertainty and its derivative of the system, so that the fault boundary is not needed to know. The convergence of ESO is proved theoretically. Secondly, a new type of fast terminal sliding surface is designed to achieve global fast convergence, non-singular control law and chattering reduction, and the Lyapunov stability criterion is used to prove that the system states converge to the origin of the sliding mode surface in finite time, which ensures the stability of the closed-loop system. Finally, the effectiveness and superiority of the proposed algorithm are verified by two simulation experiments of different order systems.

scholarly journals An extended state observer-based full-order sliding mode control for robotic joint actuated by antagonistic pneumatic artificial muscles

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142098603
Author(s):  
Daoxiong Gong ◽  
Mengyao Pei ◽  
Rui He ◽  
Jianjun Yu
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Artificial Muscles ◽  
Extended State ◽  
Robot System ◽  
Mode Control ◽  
Physical Experiments ◽  
Pneumatic Artificial Muscles

Pneumatic artificial muscles (PAMs) are expected to play an important role in endowing the advanced robot with the compliant manipulation, which is very important for a robot to coexist and cooperate with humans. However, the strong nonlinear characteristics of PAMs hinder its wide application in robots, and therefore, advanced control algorithms are urgently needed for making the best use of the advantages and bypassing the disadvantages of PAMs. In this article, we propose a full-order sliding mode control extended state observer (fSMC-ESO) algorithm that combines the ESO and the fSMC for a robotic joint actuated by a pair of antagonistic PAMs. The fSMC is employed to eliminate the chattering and to guarantee the finite-time convergence, and the ESO is adopted to observe both the total disturbance and the states of the robot system, so that we can inhibit the disturbance and compensate the nonlinearity efficiently. Both simulations and physical experiments are conducted to validate the proposed method. We suggest that the proposed method can be applied to the robotic systems actuated by PAMs and remarkably improve the performance of the robot system.

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