A simulation study of non-linear disturbance observer-based sliding mode control for inverted pendulum with mismatched disturbances

2015 ◽  
Vol 1 (4) ◽  
pp. 398
Author(s):  
Bhawna Tandon ◽  
Shiv Narayan ◽  
Jagdish Kumar
Keyword(s):  
Sliding Mode Control ◽  
Simulation Study ◽  
Disturbance Observer ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Mode Control ◽  
Non Linear ◽  
Mismatched Disturbances ◽  
Linear Disturbance

scholarly journals Disturbance Observer-Based Chattering-Attenuated Terminal Sliding Mode Control for Nonlinear Systems Subject to Matched and Mismatched Disturbances

2021 ◽  
Vol 11 (17) ◽  
pp. 8158
Author(s):  
Duc Giap Nguyen ◽  
Duc Thien Tran ◽  
Kyoung Kwan Ahn
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Target System ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Disturbance Estimation ◽  
Mode Control ◽  
Mismatched Disturbances

This work presents a new disturbance observer-based chattering-attenuated terminal sliding mode control for a class of nonlinear systems in the presence of both mismatched and matched disturbances. A nonlinear disturbance observer is typically employed to accurately estimate mismatched disturbances. In this study, a terminal sliding mode control was designed, based on the disturbance estimation results, to counter the effects of disturbances and ultimately stabilize the target system. The utilization of a chattering-attenuated full-order terminal sliding mode structure satisfactorily resolves both chattering and singularity problems in controller design. It was shown by theoretical analyses that both the disturbance estimation error and the system state converge to the equilibrium point in finite time. Two simulation studies, namely a numerical example and an application to an electro hydrostatic actuator system, were conducted to examine the characteristics and to verify the effectiveness of the proposed algorithm.

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