Adaptive sliding mode control with nonlinear disturbance observer for uncertain nonlinear system based on backstepping method

2012 ◽  
Author(s):  
Jihong Qiao ◽  
Zihao Li ◽  
Hongyan Wang
Keyword(s):  
Nonlinear System ◽  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Backstepping Method ◽  
Uncertain Nonlinear System ◽  
Nonlinear Disturbance Observer ◽  
Adaptive Sliding Mode ◽  
Nonlinear Disturbance

New adaptive sliding mode control for a generic hypersonic vehicle

2017 ◽  
Vol 232 (7) ◽  
pp. 1295-1303 ◽  
Author(s):  
Jianguo Guo ◽  
Guoqing Wang ◽  
Zongyi Guo ◽  
Jun Zhou
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Hypersonic Vehicle ◽  
Adaptive Sliding Mode Control ◽  
Reference Trajectory ◽  
Nonlinear Disturbance Observer ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Nonlinear Disturbance

The work presented here is concerned with the robust flight control problem for the longitudinal dynamics of a generic hypersonic vehicle under mismatched disturbances using adaptive sliding mode control with a nonlinear disturbance observer. A simplified control-oriented dynamic model is built with curve-fitted approximations. Based on the mismatched disturbance estimated by a nonlinear disturbance observer, a novel adaptive sliding mode control is proposed to stably track the velocity and altitude reference trajectory with back-stepping technique. The stability analysis of the closed-loop system and convergence of the system are verified based on Lyapunov stability theory. Finally, simulation results from the nonlinear model of hypersonic vehicle indicate that the proposed method can obtain promising robustness and disturbance rejection performance.

scholarly journals Novel Adaptive Sliding Mode Control with Nonlinear Disturbance Observer for SMT Assembly Machine

2016 ◽  
Vol 2016 ◽  
pp. 1-14 ◽  
Author(s):  
Rongrong Qian ◽  
Minzhou Luo ◽  
Yao Zhao ◽  
Jianghai Zhao
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Sliding Surface ◽  
Parameter Uncertainties ◽  
Nonlinear Disturbance Observer ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Nonlinear Disturbance

This paper presents a novel adaptive sliding mode control based on nonlinear sliding surface with disturbance observer (ANSMC-DOB) for precision trajectory tracking control of a surface mount technology (SMT) assembly machine. A two-degree-of-freedom model with time-varying parameter uncertainties and disturbances is built to describe the first axial mode of the pick-place actuation axis of the machine. According to the principle of variable damping ratio coefficient which makes the system have a nonovershoot transient response and a short settling time in the second-order system, the nonlinear sliding surface is designed for the sliding mode control (SMC). Since the upper bound value of the disturbances is unknown, the adaptive gain estimation is applied to replace the switching gain in the SMC. In order to settle the problem of SMC unrobust to the mismatched parameter uncertainties and disturbances, the nonlinear disturbance observer is introduced to estimate the mismatched disturbances and form the novel controller of ANSMC-DOB. The stability of sliding surfaces and control laws are verified by the Lyapunov functions. The simulation research and comparative experiments are conducted to verify the improvement of positioning accuracy and robustness by the proposed ANSMC-DOB in the SMT assembly machine.

Adaptive sliding mode control for asymptotic stabilization of underactuated mechanical systems via higher-order nonlinear disturbance observer

2019 ◽  
Vol 25 (17) ◽  
pp. 2340-2350 ◽  
Author(s):  
Kakoli Majumder ◽  
B. M. Patre
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Higher Order ◽  
Adaptive Sliding Mode Control ◽  
Control Input ◽  
Underactuated Mechanical Systems ◽  
Nonlinear Disturbance Observer ◽  
Nonlinear Disturbance

The development of a nonlinear controller of stabilization of underactuated mechanical systems (UMSs) is a challenging endeavor due to a larger number of output variables to be controlled than the control input space. This paper proposes an adaptive sliding mode control based on a higher-order nonlinear disturbance observer (HONDO) for stabilizing the rotational pendulum (RP) system falling under the class of UMSs. Firstly, the HONDO is designed in such a way that it can improve accuracy in estimations with its incremental order. As a result, the proposed controller obtained from the sliding surface which is developed with system’s states and estimations, forces the states attaining the sliding mode and hence keeps them to their origin forever against disturbances. To achieve this, the sliding coefficients are obtained using inertia matrix of the system. The zero dynamics is stabilized by the proposed controller. This alleviates the chattering problem in the control input. Finally, numerical performance on the underactuated RP model is analyzed to show the efficiency of the proposed controller and it is compared with the established control technique found in the literature.

scholarly journals Sliding mode control of the automobile electro-coating conveying mechanism with a nonlinear disturbance observer

2018 ◽  
Vol 10 (9) ◽  
pp. 168781401879574 ◽  
Author(s):  
Wei Yuan ◽  
Guoqin Gao
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
High Performance ◽  
Sliding Mode ◽  
External Disturbance ◽  
Nonlinear Disturbance Observer ◽  
Control Approach ◽  
Mode Control ◽  
Highly Nonlinear ◽  
Nonlinear Disturbance

The trajectory-tracking performance of the automobile electro-coating conveying mechanism is severely interrupted by highly nonlinear crossing couplings, unmodeled dynamics, parameter variation, friction, and unknown external disturbance. In this article, a sliding mode control with a nonlinear disturbance observer is proposed for high-accuracy motion control of the conveying mechanism. The nonlinear disturbance observer is designed to estimate not only the internal/external disturbance but also the model uncertainties. Based on the output of the nonlinear disturbance observer, a sliding mode control approach is designed for the hybrid series–parallel mechanism. Then, the stability of the closed-loop system is proved by means of a Lyapunov analysis. Finally, simulations with typical desired trajectory are presented to demonstrate the high performance of the proposed composite control scheme.

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