Sliding-Mode Control for Systems With Mismatched Uncertainties via a Disturbance Observer

By Jun Yang, Shihua Li, Xinghuo Yu. IEEE transactions on industrial electronics (1982. Print), 2013

1,069 citations recorded by the source corpus.

This paper develops a sliding-mode control (SMC) approach for systems with mismatched uncertainties via a nonlinear disturbance observer (DOB). By designing a novel sliding surface based on the disturbance estimation, a DOB-based SMC method is developed in this paper to counteract the mismatched disturbance. The newly proposed method exhibits the following two attractive features. First, the switching gain is only required to be designed greater than the bound of the disturbance estimation error rather than that of the disturbance; thus, the chattering problem is substantially alleviated. Second, the proposed method retains its nominal performance, which means the proposed method acts the same as the baseline sliding-mode controller in the absence of uncertainties. Simulation results of both the numerical and application examples show that the proposed method exhibits much better control performance than the baseline SMC and the integral SMC (I-SMC) methods, such as reduced chattering and nominal performance recovery.

Subfields: Control and Systems Engineering, Mechanical Engineering

View Paper: https://www.semanticscholar.org/paper/b43b7cd67d7a76070445def0d6919a4885f04b58

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Control and Systems Engineering

1. Mou Chen
2. Xinghuo Yu
3. Gang Tao
4. Zhihong Man
5. Yong Feng
6. Shihua Li
7. Shuzhi Sam Ge
8. Jun Yang

In Mechanical Engineering

1. Mou Chen
2. Gang Tao
3. Xinghuo Yu
4. Shihua Li
5. Zhihong Man
6. Yong Feng
7. Roberto Oboe
8. Kouhei Ohnishi

Citations in the corpus

• Fractional order sliding mode control via disturbance observer for a class of fractional order systems with mismatched disturbance, (2018, neutral): “[26] proposes a disturbance observer based sliding mode control approach for systems with mismatched uncertainties.”
• Global output regulation for strict‐feedback nonlinear systems with mismatched nonvanishing disturbances (2015, background): “However, mismatched disturbances are frequently encountered in practical systems, for example, MAGLEV suspension systems [15] and permanent magnet synchronous motor systems [16].”
• Disturbance Observer-Based Robust Control and Its Applications: 35th Anniversary Overview (2019, methodology): “Different control techniques have been proposed to deal with the mismatched disturbances by using DOB [20], [114], [115].”
• Dynamic Surface Control Using Neural Networks for a Class of Uncertain Nonlinear Systems With Input Saturation (2015, background): “Thus, different disturbance observers have been developed [43]–[47] and robust control schemes were proposed using disturbance observers.”
• Adaptive Neural Output Feedback Control of Uncertain Nonlinear Systems With Unknown Hysteresis Using Disturbance Observer (2015, background): “disturbance observer-based control schemes have been extensively developed for a system with external disturbances during the past decades [24]–[27].”
• Adaptive Fault-Tolerant Control of Uncertain Nonlinear Large-Scale Systems With Unknown Dead Zone (2016, methodology): “In [41], a sliding mode controller using disturbance observer was proposed for systems with mismatched uncertainties.”
• Terminal Sliding Mode Control – An Overview (2021, background): “troduce an estimator or disturbance modeler to compensate it [58].”