scholarly journals Robust Dynamic Sliding Mode Control-Based PID–Super Twisting Algorithm and Disturbance Observer for Second-Order Nonlinear Systems: Application to UAVs

Electronics ◽  
2019 ◽  
Vol 8 (7) ◽  
pp. 760 ◽  
Author(s):  
Ha ◽  
Hong
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Nonlinear Disturbance Observer ◽  
Mode Control ◽  
Dynamic Sliding Mode Control ◽  
Altitude Control ◽  
Nonlinear Disturbance ◽  
Dynamic Sliding Mode

This paper introduces a robust dynamic sliding mode control algorithm using a nonlinear disturbance observer for system dynamics. The proposed method is applied to provide a rapid adaptation and strictly robust performance for the attitude and altitude control of unmanned aerial vehicles (UAVs). The procedure of the proposed method consists of two stages. First, a nonlinear disturbance observer is applied to estimate the exogenous perturbation. Second, a robust dynamic sliding mode controller integrated with the estimated values of disturbances is presented by a combination of a proportional–integral–derivative (PID) sliding surface and super twisting technique to compensate for the effect of these perturbations on the system. In addition, the stability of a control system is established by Lyapunov theory. A numerical simulation was performed and compared to recently alternative methods. An excellent tracking performance and superior stability of the attitude and altitude control of UAVs, exhibiting a fast response, good adaptation, and no chattering effect in the simulation results proved the robustness and effectiveness of the proposed method.

scholarly journals Nonlinear Disturbance Observer-Based Sliding Mode Control for the PMSM with Matched and Mismatched Disturbances

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Yao Fang ◽  
Huifang Kong ◽  
Tiankuo Liu
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
High Efficiency ◽  
Sliding Mode ◽  
Estimation Error ◽  
Permanent Magnet Synchronous Motor ◽  
Lyapunov Theory ◽  
Nonlinear Disturbance Observer ◽  
Mode Control ◽  
Nonlinear Disturbance

High-efficiency permanent-magnet synchronous motor (PMSM) is a key technology to improve the driving range of batteries in electric vehicles, while the mismatched disturbance that is caused by external disturbances and parameter perturbation may easily result in speed fluctuations and overshoot of the PMSM, which further deteriorate the performance and efficiency of batteries. To solve the problem, a novel nonlinear disturbance observer-based sliding mode control (NDO-SMC) is proposed. Compared with the traditional SMC method, the NDO-SMC scheme has better disturbance rejection ability in the presence of matched and mismatched uncertainties and disturbances by introducing the estimation value of the nonlinear disturbance observer in the sliding surface. Furthermore, owing to the compensation of the disturbance observer, the switching gain is only required to be greater than the bound of the disturbance estimation error rather than that of the disturbance; thus, the chattering problem is substantially alleviated. A rigorous stability proof of the whole closed-loop system is given in detail using Lyapunov theory by designing an appropriate Lyapunov function. The simulation results demonstrate the feasibility and superiority of the proposed NDO-SMC strategy.

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.

scholarly journals Adaptive Fuzzy Backstepping Sliding Mode Control for a 3-DOF Hydraulic Manipulator with Nonlinear Disturbance Observer for Large Payload Variation

2019 ◽  
Vol 9 (16) ◽  
pp. 3290 ◽  
Author(s):  
Hoai Vu Anh Truong ◽  
Duc Thien Tran ◽  
Xuan Dinh To ◽  
Kyoung Kwan Ahn ◽  
Maolin Jin
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Nonlinear Disturbance Observer ◽  
Mode Control ◽  
Backstepping Sliding Mode Control ◽  
Hydraulic Manipulator ◽  
Nonlinear Disturbance ◽  
Payload Variation ◽  
Logic System

The paper proposes an adaptive fuzzy position control for a 3-DOF hydraulic manipulator with large payload variation. The hydraulic manipulator uses electrohydraulic actuators as primary torque generators to enhance carrying payload of the manipulator. The proposed control combines backstepping sliding mode control, fuzzy logic system (FLS), and a nonlinear disturbance observer. The backstepping sliding mode control includes a sliding mode control for manipulator dynamics and a PI control for actuator dynamics. The fuzzy logic system is utilized to adjust the control gain and robust gain of the sliding mode control (SMC) based on the output of the nonlinear disturbance observer to compensate the payload. The Lyapunov approach and backstepping technique are used to prove the stability and robustness of the whole system. Some simulations are implemented, and the results are compared to other controllers to exhibit the effectiveness of the proposed control.

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