Adaptive Observer-Based Decentralized Sliding Mode Control for Connected Systems in the Presence of Unknown Interconnection and Bounded Disturbance

2020 ◽  
Vol 31 (6) ◽  
pp. 1386-1399
Author(s):  
Babak Ranjbar ◽  
A. Ranjbar Noiey ◽  
Behrooz Rezaie
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Adaptive Observer ◽  
Mode Control ◽  
Bounded Disturbance

Nonlinear adaptive observer-based sliding mode control for LAMOST mount driving

2010 ◽  
Vol 10 (1) ◽  
pp. 96-106 ◽  
Author(s):  
Wang-Ping Zhou ◽  
Yi Zheng ◽  
Wei Guo ◽  
Li Yu ◽  
Chang-Song Yang
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Adaptive Observer ◽  
Mode Control

scholarly journals Terminal Sliding Mode Control Using Adaptive Fuzzy-Neural Observer

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Dezhi Xu ◽  
Bin Jiang ◽  
Moshu Qian ◽  
Jing Zhao
Keyword(s):  
Sliding Mode Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
The State ◽  
Adaptive Observer ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Fuzzy Neural

We propose a terminal sliding mode control (SMC) law based on adaptive fuzzy-neural observer for nonaffine nonlinear uncertain system. First, a novel nonaffine nonlinear approximation algorithm is proposed for observer and controller design. Then, an adaptive fuzzy-neural observer is introduced to identify the simplified model and resolve the problem of the unavailability of the state variables. Moreover, based on the information of the adaptive observer, the terminal SMC law is designed. The Lyapunov synthesis approach is used to guarantee a global uniform ultimate boundedness property of the state estimation error and the asymptotic output tracking of the closed-loop control systems in spite of unknown uncertainties/disturbances, as well as all the other signals in the closed-loop system. Finally, using the designed terminal sliding mode controller, the simulation results on the dynamic model demonstrate the effectiveness of the proposed new control techniques.

scholarly journals Adaptive Observer-Based Sliding Mode Control for a Two-Wheeled Self-Balancing Robot under Terrain Inclination and Disturbances

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Ines Jmel ◽  
Habib Dimassi ◽  
Salim Hadj-Said ◽  
Faouzi M’Sahli
Keyword(s):  
Sliding Mode Control ◽  
Inclination Angle ◽  
Output Feedback ◽  
Tracking Control ◽  
Sliding Mode ◽  
Adaptive Observer ◽  
Mode Control ◽  
Control Scheme ◽  
Wheeled Robot ◽  
Balancing Robot

This paper investigates an output feedback sliding mode control scheme for a two-wheeled self-balancing robot under terrain inclination and disturbances. First of all, an adaptive high-gain observer is designed for the robot to estimate, simultaneously, the unmeasured states and the unknown terrain inclination angle which appears nonlinearly in the dynamics of the wheeled robot, using the only measured linear and angular positions. Then, the estimated states and the reconstructed unknown inclination angle are used by an appropriate continuously implemented sliding mode controller whose the design is based on the boundary layer approximation approach to reduce the chattering phenomenon. The objective of the proposed robust controller is to ensure the tracking control of the two-wheeled robot despite the unknown terrain inclination and the presence of friction disturbances. The stability of the adaptive observer-based output feedback system is established through a Lyapunov analysis, and it is inspired from sliding modes theory. Numerical simulations results highlight the effectiveness of the proposed tracking control scheme applied on two-wheeled self-balancing robot subject to terrain inclination even in the presence of unavailable disturbances.

Sign in / Sign up

Export Citation Format

Share Document