scholarly journals Nonlinear Disturbance-Observer-Based Sliding Mode Control for Flexible Air-Breathing Hypersonic Vehicles

2015 ◽  
Vol 2015 ◽  
pp. 1-15 ◽  
Author(s):  
Na Wang ◽  
Xiu-Ming Yao ◽  
Wen-Shuo Li
Keyword(s):  
Disturbance Observer ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Hypersonic Vehicles ◽  
Sliding Mode Controller ◽  
Parameter Uncertainties ◽  
Nonlinear Disturbance Observer ◽  
Air Breathing ◽  
Nonlinear Disturbance ◽  
Uniformly Ultimate Boundedness

This paper investigates a tracking problem for flexible air-breathing hypersonic vehicles (FAHVs) with composite disturbance. The composite disturbance produced by flexible effects, parameter uncertainties, and external interferences is modeled as a kind of unknown derivative-bounded disturbance in this paper. Then a novel composite control strategy is presented for the nonlinear FAHV model with the composite disturbance, which combines a nonlinear disturbance-observer-based compensator (NDOBC) and a dynamic-inversion-based sliding mode controller (DIBSMC). Specifically, the NDOBC is constructed to estimate and compensate for the composite disturbance, and the DIBSMC is designed to track desired trajectories of velocity and flight path angle. Moreover, the uniformly ultimate boundedness of the composite system can be guaranteed by using Lyapunov theory. Finally, simulation results on a full nonlinear model of FAHVs demonstrate that the proposed nonlinear disturbance-observer-based sliding mode controller is more effective than the traditional DIBSMC. Specifically, it is shown that the chattering of traditional DIBSMC in presence of composite disturbances can be attenuated with the NDOBC.

scholarly journals Terminal Sliding Mode Control of Mobile Wheeled Inverted Pendulum System with Nonlinear Disturbance Observer

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
SongHyok Ri ◽  
Jian Huang ◽  
Yongji Wang ◽  
MyongHo Kim ◽  
Sonchol An
Keyword(s):  
Disturbance Observer ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode ◽  
Pendulum System ◽  
Nonlinear Disturbance Observer ◽  
Inverted Pendulum System ◽  
Wheeled Inverted Pendulum ◽  
Nonlinear Disturbance

A terminal sliding mode controller with nonlinear disturbance observer is investigated to control mobile wheeled inverted pendulum system. In order to eliminate the main drawback of the sliding mode control, “chattering” phenomenon, and for compensation of the model uncertainties and external disturbance, we designed a nonlinear disturbance observer of the mobile wheeled inverted pendulum system. Based on the nonlinear disturbance observer, a terminal sliding mode controller is also proposed. The stability of the closed-loop mobile wheeled inverted pendulum system is proved by Lyapunov theorem. Simulation results show that the terminal sliding mode controller with nonlinear disturbance observer can eliminate the “chattering” phenomenon, improve the control precision, and suppress the effects of external disturbance and model uncertainties effectively.

An Intelligence Sliding Mode Controller Based on Nonlinear Disturbance Observer for Rotary Steering Drilling Stabilized Platform

2013 ◽  
Vol 341-342 ◽  
pp. 913-919
Author(s):  
Yuan Tao Zhang ◽  
Jun Yi
Keyword(s):  
Disturbance Observer ◽  
Sliding Mode ◽  
Design Parameters ◽  
Sliding Mode Controller ◽  
Sigmoid Function ◽  
Nonlinear Disturbance Observer ◽  
Function Coefficient ◽  
Nonlinear Disturbance ◽  
Stabilized Platform ◽  
Uncertain Disturbance

An intelligence sliding mode controller for rotary steering drilling stabilized platform based on nonlinear disturbance observer is presented. Nonlinear disturbance observer which can converge exponentially with suitable design parameters is used to obs erve the uncertain disturbance of stabilized platform under work condition. Sliding mode controller is designed to guarantee the robustness of the closed-loop system. The adaptive rate of switching gain is designed and sign function is replaced by bipolar sigmoid function to weaken chattering. Finally, genetic algorithm is applied to search the optimal controller parameters, including switching function coefficient, switching gain adaptive coefficient, sigmoid function coefficient and observer coefficient. Simulation results show that nonlinear disturbance observer can observe the uncertain disturbance effectively, controller output is decreased and stabilized platform can get optimal control performance and robustness.

scholarly journals Novel Adaptive Sliding Mode Control with Nonlinear Disturbance Observer for SMT Assembly Machine

2016 ◽  
Vol 2016 ◽  
pp. 1-14 ◽  
Author(s):  
Rongrong Qian ◽  
Minzhou Luo ◽  
Yao Zhao ◽  
Jianghai Zhao
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Sliding Surface ◽  
Parameter Uncertainties ◽  
Nonlinear Disturbance Observer ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Nonlinear Disturbance

This paper presents a novel adaptive sliding mode control based on nonlinear sliding surface with disturbance observer (ANSMC-DOB) for precision trajectory tracking control of a surface mount technology (SMT) assembly machine. A two-degree-of-freedom model with time-varying parameter uncertainties and disturbances is built to describe the first axial mode of the pick-place actuation axis of the machine. According to the principle of variable damping ratio coefficient which makes the system have a nonovershoot transient response and a short settling time in the second-order system, the nonlinear sliding surface is designed for the sliding mode control (SMC). Since the upper bound value of the disturbances is unknown, the adaptive gain estimation is applied to replace the switching gain in the SMC. In order to settle the problem of SMC unrobust to the mismatched parameter uncertainties and disturbances, the nonlinear disturbance observer is introduced to estimate the mismatched disturbances and form the novel controller of ANSMC-DOB. The stability of sliding surfaces and control laws are verified by the Lyapunov functions. The simulation research and comparative experiments are conducted to verify the improvement of positioning accuracy and robustness by the proposed ANSMC-DOB in the SMT assembly machine.

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 Position Tracking Control of Robotic System Subject to Matched and Mismatched Disturbances

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Xia Liu ◽  
Dandan Liu ◽  
Hao Sheng
Keyword(s):  
Disturbance Observer ◽  
Sliding Mode ◽  
Robotic System ◽  
Position Tracking ◽  
Sliding Mode Controller ◽  
Nonlinear Disturbance Observer ◽  
Mismatched Disturbance ◽  
Position Tracking Control ◽  
Nonlinear Disturbance ◽  
Mismatched Disturbances

For nonlinear coupled robotic system subject to matched and mismatched disturbances, this paper designs an adaptive disturbance observer-based exponential sliding mode controller to achieve position tracking. Firstly, matched disturbance, mismatched disturbance, and the derivative of mismatched disturbance are defined as the lumped disturbance in robotic system. Secondly, a nonlinear disturbance observer is constructed to estimate the lumped disturbance, and an adaptive law is proposed to estimate the bound of the lumped disturbance. Finally, an exponential sliding mode controller is derived by combining the nonlinear disturbance observer and exponential convergence law. Stability and tracking performance of the robotic system is analyzed via Lyapunov function approach. Simulation results show that, with the proposed approach, both matched and mismatched disturbances in robotic system can be effectively depressed while achieving position tracking.

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