Adaptive disturbance compensation finite control set optimal control for PMSM systems based on sliding mode extended state observer

2018 ◽  
Vol 98 ◽  
pp. 402-414 ◽  
Author(s):  
Yun-jie Wu ◽  
Guo-fei Li
Keyword(s):  
Optimal Control ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Disturbance Compensation ◽  
Extended State ◽  
Finite Control ◽  
Control Set

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.

Series sliding mode control for gun control system based on extended state observer

2011 ◽  
Vol 19 (10) ◽  
pp. 2409-2418
Author(s):  
马晓军 MA Xiao-jun ◽  
袁东 YUAN Dong ◽  
李匡成 LI Kuang-cheng ◽  
魏曙光 WEI Shu-guang
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
State Observer ◽  
Gun Control ◽  
Extended State Observer ◽  
Extended State ◽  
Mode Control

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.

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