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A new state and perturbation observer based sliding mode controller for uncertain systems

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Abstract

This paper proposes a new continuous sliding mode controller and observer for perturbed systems. The controller, which does not need any knowledge of bounds of any perturbation, is estimated using the uncertainty and disturbance estimation technique and implemented with observer states. The stability of the overall observer-controller combination is proved. The controller-observer combination is validated by implementing the scheme for an actual hardware set-up of serial flexible joint in laboratory.

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Authors and Affiliations

  1. College of Engineering Pune, Pune, Maharashtra, India

    Divyesh Ginoya, Pramod D. Shendge & Shrivijay B. Phadke

  2. SGGS Institute of Engineering and Technology, Nanded, India

    Balasaheb M. Patre

Authors
  1. Divyesh Ginoya
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  2. Pramod D. Shendge
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  3. Balasaheb M. Patre
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  4. Shrivijay B. Phadke
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Correspondence to Divyesh Ginoya.

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Ginoya, D., Shendge, P.D., Patre, B.M. et al. A new state and perturbation observer based sliding mode controller for uncertain systems. Int. J. Dynam. Control 4, 92–103 (2016). https://doi.org/10.1007/s40435-014-0121-6

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  • DOI: https://doi.org/10.1007/s40435-014-0121-6

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