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 Robust Sliding Mode Control for a 2-DOF Lower Limb Exoskeleton Base on Linear Extended State Observer

2020 ◽  
Vol 2 (2) ◽  
Author(s):  
Zhenlei CHEN ◽  
Qing GUO ◽  
Yao YAN ◽  
Dan JIANG
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Sliding Mode ◽  
External Disturbance ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Lower Limb Exoskeleton ◽  
Mode Control ◽  
Linear Extended State Observer

For the 2- Degree of Freedom (DOF) lower limb exoskeleton, to ensure the system robustness and dynamic performance, a linear-extended-state-observer-based (LESO) robust sliding mode control is proposed to not only reduce the influence of parametric uncertainties, unmodeled dynamics, and external disturbance but also estimate the unmeasurable real-time joint angular velocity directly. Then, via Lyapunov technology, the stability of the corresponding LESO and controller is proven. The appropriate and reasonable simulation was carried out to verify the effectiveness of the proposed LESO and exoskeleton controller.

scholarly journals Adaptive Sliding Mode Trajectory Tracking Control for WMR Considering Skidding and Slipping via Extended State Observer

Energies ◽  
2019 ◽  
Vol 12 (17) ◽  
pp. 3305 ◽  
Author(s):  
Gang Wang ◽  
Chenghui Zhou ◽  
Yu Yu ◽  
Xiaoping Liu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Parameter Uncertainties ◽  
Trajectory Tracking Control ◽  
Adaptive Sliding Mode

When the wheeled mobile robot (WMR) is required to perform specific tasks in complex environment, i.e., on the forestry, wet, icy ground or on the sharp corner, wheel skidding and slipping inevitably occur during trajectory tracking. To improve the trajectory tracking performance of WMR under unknown skidding and slipping condition, an adaptive sliding mode controller (ASMC) design approach based on the extended state observer (ESO) is presented. The skidding and slipping is regarded as external disturbance. In this paper, the ESO is introduced to estimate the lumped disturbance containing the unknown skidding and slipping, parameter variation, parameter uncertainties, etc. By designing a sliding surface based on the disturbance estimation, an adaptive sliding mode tracking control strategy is developed to attenuate the lumped disturbance. Simulation results show that higher precision tracking and better disturbance rejection of ESO-ASMC is realized for linear and circular trajectory than the ASMC scheme. Besides, experimental results indicate the ESO-ASMC scheme is feasible and effective. Therefore, ESO-ASMC scheme can enhance the energy efficiency for the differentially driven WMR under unknown skidding and slipping condition.

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.

Application of Super Twisting Guidance Law Based on Extended State Observer

2013 ◽  
Vol 433-435 ◽  
pp. 1009-1014 ◽  
Author(s):  
Yang Chong ◽  
Ke Zhang
Keyword(s):  
Sliding Mode ◽  
External Disturbance ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Maneuvering Target ◽  
Guidance Law ◽  
Target Acceleration ◽  
Twisting Algorithm ◽  
Miss Distance

In order to intercept high maneuvering target, a super twisting guidance law based on extended state observer (ESO) is proposed. The target acceleration can be defined as external disturbance which can be estimated in ESO and compensated in super twisting guidance law. The super twisting algorithm can effectively decrease the undesired charting which exists in normal sliding mode control. The simulation results which are verified via computer show that this guidance law has strong robustness, target acceleration can be estimated and compensated, and has good miss distance.

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