Improved Adaptive Sliding Mode Control for a Class of Second-Order Mechanical Systems

2012 ◽  
Vol 15 (6) ◽  
pp. 1862-1866 ◽  
Author(s):  
Binglong Cong ◽  
Xiangdong Liu ◽  
Zhen Chen
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Second Order ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Mode Control

scholarly journals New adaptive sliding mode control for a mismatched second-order system using an extended disturbance observer

2018 ◽  
Vol 41 (1) ◽  
pp. 276-284 ◽  
Author(s):  
Jianguo Guo ◽  
Yuchao Liu ◽  
Jun Zhou
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Second Order ◽  
Adaptive Sliding Mode Control ◽  
Order System ◽  
Adaptive Sliding Mode ◽  
Disturbance Estimation ◽  
Mode Control ◽  
Mismatched Disturbance

An adaptive sliding mode control (ASMC) approach for a second-order system based on an extended disturbance observer (EDO) is proposed in this paper for systems with mismatched uncertainties. The EDO-based ASMC method is investigated to eliminate the effect of mismatched disturbance by using a novel adaptive sliding surface consisting of the disturbance estimation. The proposed method exhibits the following two attractive features: Firstly, the proposed adaptive sliding mode with disturbance estimation is insensitive to the mismatched disturbance; that is, the asymptotical stability of the adaptive sliding mode can be guaranteed in the presence of the disturbance estimation error of the EDO. Secondly, the chattering in traditional sliding mode control methods is eliminated by using an adaptive term the adaptive parameter. Compared with the disturbance-observer-based sliding mode control and the EDO-based modified sliding mode control method, numerical simulation results and application examples show that the proposed approach is robust, has the best dynamic performance and eliminates chattering.

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