Finite-time extended state observer and fractional-order sliding mode controller for impulsive hybrid port-Hamiltonian systems with input delay and actuators saturation: Application to ball-juggler robots

2022 ◽  
Vol 167 ◽  
pp. 104577
Author(s):  
Yousef Farid ◽  
Fabio Ruggiero
Keyword(s):  
Hamiltonian Systems ◽  
Fractional Order ◽  
Finite Time ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Input Delay ◽  
Sliding Mode Controller ◽  
Extended State

scholarly journals A Sliding Mode Control with Nonlinear Fractional Order PID Sliding Surface for the Speed Operation of Surface-Mounted PMSM Drives Based on an Extended State Observer

2019 ◽  
Vol 2019 ◽  
pp. 1-13 ◽  
Author(s):  
Peng Gao ◽  
Guangming Zhang ◽  
Huimin Ouyang ◽  
Lei Mei
Keyword(s):  
Fractional Order ◽  
Sliding Mode ◽  
Nonlinear Function ◽  
State Observer ◽  
Extended State Observer ◽  
Sliding Surface ◽  
Extended State ◽  
External Disturbances ◽  
Fractional Order Pid ◽  
Pid Sliding Surface

A novel sliding mode controller (SMC) with nonlinear fractional order PID sliding surface based on a novel extended state observer for the speed operation of a surface-mounted permanent magnet synchronous motor (SPMSM) is proposed in this paper. First, a new smooth and derivable nonlinear function with improved continuity and derivative is designed to replace the traditional nonderivable nonlinear function of the nonlinear state error feedback control law. Then, a nonlinear fractional order PID sliding mode controller is proposed on the basis of the fractional order PID sliding surface with the combination of the novel nonlinear state error feedback control law to improve dynamic performance, static performance, and robustness of the system. Furthermore, a novel extended state observer is designed based on the new nonlinear function to achieve dynamic feedback compensation for external disturbances. Stability of the system is proved based on the Lyapunov stability theorem. The corresponding comparative simulation results demonstrate that the proposed composite control algorithm displays good stability, dynamic properties, and strong robustness against external disturbances.

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 Extended-State-Observer-Based Terminal Sliding Mode Tracking Control for Synchronous Fly-Around with Space Tumbling Target

2019 ◽  
Vol 2019 ◽  
pp. 1-15
Author(s):  
Zhijun Chen ◽  
Yong Zhao ◽  
Yuzhu Bai ◽  
Dechao Ran ◽  
Liang He
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Coupling Effect ◽  
External Disturbance ◽  
Fast Response ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Tumbling Target

This paper presents a robust controller with an extended state observer to solve the Synchronous Fly-Around problem of a chaser spacecraft approaching a tumbling target in the presence of unknown uncertainty and bounded external disturbance. The rotational motion and time-varying docking trajectory of tumbling target are given in advance and referred as the desired tracking objective. Based on dual quaternion framework, a six-degree-of-freedom coupled relative motion between two spacecrafts is modeled, in which the coupling effect, model uncertainties, and external disturbances are considered. More specially, a novel nonsingular terminal sliding mode is designed to ensure the convergence to the desired trajectory in finite time. Based on the second-order sliding mode, an extended state observer is employed to the controller to compensate the closed-loop system. By theoretical analysis, it is proved that the modified extended-state-observer-based controller guarantees the finite-time stabilization. Numerical simulations are taken to show the effectiveness and superiority of the proposed control scheme. Finally, Synchronous Fly-Around maneuvers can be accomplished with fast response and high accuracy.

Flight Attitude Sliding Mode Control Design Based on the Compensation of Extended State Observer

2014 ◽  
Vol 716-717 ◽  
pp. 1689-1693
Author(s):  
Hai Long Xing ◽  
Juan Li
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Design Method ◽  
Control Design ◽  
Control Object ◽  
State Observer ◽  
Extended State Observer ◽  
Sliding Mode Controller ◽  
Extended State ◽  
Mode Control

This paper proposes the sliding mode control design based on extended state observer control approch for the flight attitude system.The extended state observer (ESO) with new structure is used to estimate the total disturbance and to compensate the control object so that the flight attitude system can be simplified. Then a sliding mode controller is used to stabilize this simplified system. Finally, a numerical simulation shows the effectiveness of the proposed control design method.

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