Applying sliding mode technique to design extended state observer for nonlinear systems

2021 ◽  
Author(s):  
Jeang‐Lin Chang
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Mode Technique ◽  
Sliding Mode Technique

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.

scholarly journals Fault-tolerant control for a class of n-order systems based on fast terminal sliding mode and extended state observer

2021 ◽  
pp. 002029402110286
Author(s):  
Pu Yang ◽  
Peng Liu ◽  
ChenWan Wen ◽  
Huilin Geng
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Singular Control ◽  
Fault Tolerant Control ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode ◽  
Terminal Sliding Surface

This paper focuses on fast terminal sliding mode fault-tolerant control for a class of n-order nonlinear systems. Firstly, when the actuator fault occurs, the extended state observer (ESO) is used to estimate the lumped uncertainty and its derivative of the system, so that the fault boundary is not needed to know. The convergence of ESO is proved theoretically. Secondly, a new type of fast terminal sliding surface is designed to achieve global fast convergence, non-singular control law and chattering reduction, and the Lyapunov stability criterion is used to prove that the system states converge to the origin of the sliding mode surface in finite time, which ensures the stability of the closed-loop system. Finally, the effectiveness and superiority of the proposed algorithm are verified by two simulation experiments of different order systems.

scholarly journals An extended state observer-based full-order sliding mode control for robotic joint actuated by antagonistic pneumatic artificial muscles

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142098603
Author(s):  
Daoxiong Gong ◽  
Mengyao Pei ◽  
Rui He ◽  
Jianjun Yu
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Artificial Muscles ◽  
Extended State ◽  
Robot System ◽  
Mode Control ◽  
Physical Experiments ◽  
Pneumatic Artificial Muscles

Pneumatic artificial muscles (PAMs) are expected to play an important role in endowing the advanced robot with the compliant manipulation, which is very important for a robot to coexist and cooperate with humans. However, the strong nonlinear characteristics of PAMs hinder its wide application in robots, and therefore, advanced control algorithms are urgently needed for making the best use of the advantages and bypassing the disadvantages of PAMs. In this article, we propose a full-order sliding mode control extended state observer (fSMC-ESO) algorithm that combines the ESO and the fSMC for a robotic joint actuated by a pair of antagonistic PAMs. The fSMC is employed to eliminate the chattering and to guarantee the finite-time convergence, and the ESO is adopted to observe both the total disturbance and the states of the robot system, so that we can inhibit the disturbance and compensate the nonlinearity efficiently. Both simulations and physical experiments are conducted to validate the proposed method. We suggest that the proposed method can be applied to the robotic systems actuated by PAMs and remarkably improve the performance of the robot system.

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