scholarly journals Nonsingular Fast Terminal Sliding Mode Control with Extended State Observer and Tracking Differentiator for Uncertain Nonlinear Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-16 ◽  
Author(s):  
Zhenxin He ◽  
Chuntong Liu ◽  
Ying Zhan ◽  
Hongcai Li ◽  
Xianxiang Huang ◽  
...  
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Tracking Differentiator ◽  
Fast Terminal Sliding Mode

A continuous nonsingular fast terminal sliding mode (NFTSM) control scheme with the extended state observer (ESO) and the tracking differentiator (TD) is proposed for second-order uncertain SISO nonlinear systems. The system’s disturbances and states can be estimated by introducing the ESO, then the disturbances are compensated effectively, and the ideal transient process of the system can be arranged based on TD to provide the target tracking signal and its high-order derivatives. The proposed controller obtains finite-time convergence property and keeps good robustness of sliding mode control (SMC) for disturbances. Moreover, compared with conventional SMC, the proposed control law is continuous and no chattering phenomenon exists. The property of system stability is guaranteed by Lyapunov stability theory. The simulation results show that the proposed method can be employed to shorten the system reaching time, improve the system tracking precision, and suppress the system chattering and the input noise. The proposed control method is finally applied for the rotating control problem of theodolite servo system.

Extended state observer–based backstepping fast terminal sliding mode control for active suspension vibration

2020 ◽  
pp. 107754632095952
Author(s):  
Haoping Wang ◽  
Lei Chang ◽  
Yang Tian
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Active Suspension ◽  
State Observer ◽  
Extended State Observer ◽  
Terminal Sliding Mode Control ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

In this study, an extended state observer–based backstepping fast terminal sliding mode control is developed for the ride comfort of a full-car active suspension system. In the referred extended state observer–based backstepping fast terminal sliding mode control, the extended state observer is designed to estimate the lumped disturbances of external road excitation and uncertain dynamics. Then, a backstepping fast terminal sliding mode controller is used to track the desired trajectory reference which is obtained via a nonlinear filter. A virtual prototype of vehicle suspension is also built on ADAMS software as the simulated real-time controlled system. The co-simulation results of MATLAB/Simulink+ADAMS show that the proposed controller has better performance than the passive suspension and the active suspension using the traditional backstepping method whether under random road or bumpy road.

Novel nonsingular fast terminal sliding mode control for a PMSM chaotic system with extended state observer and tracking differentiator

2015 ◽  
Vol 23 (15) ◽  
pp. 2478-2493 ◽  
Author(s):  
Xuejian Chang ◽  
Ling Liu ◽  
Wen Ding ◽  
Deliang Liang ◽  
Chongxin Liu ◽  
...  
Keyword(s):  
Chaotic System ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
Transition Process ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Tracking Differentiator ◽  
Fast Terminal Sliding Mode

A novel nonsingular fast terminal sliding mode (NNFTSM) control strategy based on the extended state observer (ESO) and the tracking differentiator (TD) is developed for the stabilization and tracking of the uncertain perturbed permanent magnet synchronous motor (PMSM) chaotic system. The proposed NNFTSM surface not only makes the system state rapidly converge to the equilibrium point in finite time with high steady-state precision, but also avoids the singular phenomenon. Furthermore, the ESO which does not rely on the mathematical model of the system is used for estimating uncertainties and disturbances to decrease the chattering caused by the big switching gain through compensating controller. Meanwhile, the TD is introduced to arrange the transition process for the reference input signal to realize the coordinated control between the rapidity and overshoot, and to decrease the initial impulse of the manipulative variable. The simulation results demonstrate that the proposed control scheme can flexibly restrain chaos which provides good dynamic and static performances, and has strong robustness to parameter variations and external load disturbances with low chattering.

Additional Throttle Control of Small Gas Internal Combustion Generator Based on Extent State Observer and Terminal Sliding Mode Control

2014 ◽  
Vol 687-691 ◽  
pp. 255-259
Author(s):  
Zhe Bai ◽  
Zhong Jian Kang ◽  
Yan Shi Sun ◽  
Rui Ying Liu
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Internal Combustion ◽  
State Observer ◽  
Extended State Observer ◽  
Strong Nonlinearity ◽  
Terminal Sliding Mode Control ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Mode Control

As for the characteristics of strong nonlinearity and model uncertainty of gas internal combustion generator, an additional throttle controller based on extended state observer (ESO) and terminal sliding mode control is proposed in this paper on the basis of gas internal combustion generator’s main speed controller. After tracking the system states and uncertainty in the system mode as well as the external disturbance by using extended state observer, additional throttle controller is designed on the basis of terminal sliding mode control theory. The simulation result of an one machine-infinity bus system shows that the controller has good control effect and robustness, which will effectively improve the performance of gas internal combustion generator speed control system.

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