A Finite-Time Sliding Mode Controller Design for Flexible Joint Manipulator Systems Based on Disturbance Observer

In this paper, a state and extended disturbance observer (DO) is designed for mismatched uncertain systems. Apart from system states and disturbances, the proposed observer estimates the derivatives of the disturbances and thereby improves the accuracy of estimation of disturbances as well as the states. No knowledge of bounds of disturbances or their derivatives is assumed. An observer–controller combination for a sliding mode controller that requires the estimates of the derivatives of disturbances is described, and the ultimate boundedness of the overall system is proved. The proposed observer is illustrated by simulation of a numerical example and a rotary hydraulic actuator. The proposed observer–controller combination is validated on a serial flexible joint manipulator in laboratory.

Download Full-text

Adaptive Multivariable Super-Twisting Sliding Mode Controller and Disturbance Observer Design for Hypersonic Vehicle

Mathematical Problems in Engineering ◽

10.1155/2016/5291912 ◽

2016 ◽

Vol 2016 ◽

pp. 1-9 ◽

Cited By ~ 1

Author(s):

Wenru Fan ◽

Bailing Tian

Keyword(s):

Disturbance Observer ◽

Controller Design ◽

Sliding Mode ◽

Hypersonic Vehicle ◽

Observer Design ◽

Sliding Mode Controller ◽

Finite Time Convergence ◽

Gain Adaptation ◽

Chattering Reduction ◽

Sliding Manifold

A multivariable super-twisting sliding mode controller and disturbance observer with gain adaptation, chattering reduction, and finite time convergence are proposed for a generic hypersonic vehicle where the boundary of aerodynamic uncertainties exists but is unknown. Firstly, an input-output linearization model is constructed for the purpose of controller design. Then, the sliding manifold is designed based on the homogeneity theory. Furthermore, an integrated adaptive multivariable super-twisting sliding mode controller and disturbance observer are designed in order to achieve the tracking for step changes in velocity and altitude. Finally, some simulation results are provided to verify the effectiveness of the proposed method.

Download Full-text

Prescribed and controlled finite-time convergence based on a disturbance observer for an adaptive sliding mode controller

International Journal of Control ◽

10.1080/00207179.2020.1870048 ◽

2021 ◽

pp. 1-12

Author(s):

Jonathan Rodriguez ◽

Herman Castañeda ◽

J. L. Gordillo

Keyword(s):

Finite Time ◽

Disturbance Observer ◽

Sliding Mode ◽

Sliding Mode Controller ◽

Adaptive Sliding Mode ◽

Finite Time Convergence ◽

Adaptive Sliding Mode Controller

Download Full-text

Fractional-order nonsingular terminal sliding mode control via a disturbance observer for a class of nonlinear systems with mismatched disturbances

Journal of Vibration and Control ◽

10.1177/1077546320925263 ◽

2020 ◽

pp. 107754632092526

Author(s):

Amir Razzaghian ◽

Reihaneh Kardehi Moghaddam ◽

Naser Pariz

Keyword(s):

Nonlinear Systems ◽

Sliding Mode Control ◽

Fractional Order ◽

Finite Time ◽

Disturbance Observer ◽

Sliding Mode ◽

Sliding Mode Controller ◽

Terminal Sliding Mode Control ◽

Terminal Sliding Mode ◽

Nonsingular Terminal Sliding Mode

This study investigates a novel fractional-order nonsingular terminal sliding mode controller via a finite-time disturbance observer for a class of mismatched uncertain nonlinear systems. For this purpose, a finite-time disturbance observer–based fractional-order nonsingular terminal sliding surface is proposed, and the corresponding control law is designed using the Lyapunov stability theory to satisfy the sliding condition in finite time. The proposed fractional-order nonsingular terminal sliding mode control based on a finite-time disturbance observer exhibits better control performance; guarantees finite-time convergence, robust stability of the closed-loop system, and mismatched disturbance rejection; and alleviates the chattering problem. Finally, the effectiveness of the proposed fractional-order robust controller is illustrated via simulation results of both the numerical and application examples which are compared with the fractional-order nonsingular terminal sliding mode controller, sliding mode controller based on a disturbance observer, and integral sliding mode controller methods.

Download Full-text

A Finite-Time Disturbance Observer Based Full-Order Terminal Sliding-Mode Controller for Manned Submersible with Disturbances

Mathematical Problems in Engineering ◽

10.1155/2018/1307308 ◽

2018 ◽

Vol 2018 ◽

pp. 1-11 ◽

Cited By ~ 1

Author(s):

Xing Fang ◽

Fei Liu

Keyword(s):

Sliding Mode Control ◽

Finite Time ◽

Disturbance Observer ◽

Sliding Mode ◽

Lyapunov Theory ◽

System Stability ◽

Sliding Mode Controller ◽

Terminal Sliding Mode ◽

Mode Control ◽

Manned Submersible

A novel full-order terminal sliding-mode controller (FOTSMC) based on the finite-time disturbance observer (FTDO) is proposed for the “JIAOLONG” manned submersible with lumped disturbances. First, a finite-time disturbance observer (FTDO) is developed to estimate the lumped disturbances including the external disturbances and model uncertainties. Second, a full-order terminal sliding-mode surface is designed for the manned submersible, whose sliding-mode motion behaves as full-order dynamics rather than reduced-order dynamics in conventional sliding-mode control systems. Then, a continuous sliding-mode control law is developed to avoid chattering phenomenon, as well as to drive the system outputs to the desired reference trajectory in finite time. Furthermore, the closed-loop system stability analysis is given by Lyapunov theory. Finally, the simulation results demonstrate the satisfactory tracking performance and excellent disturbance rejection capability of the proposed finite-time disturbance observer based full-order terminal sliding-mode control (FTDO-FOTSMC) method.

Download Full-text