Journal of Systems Science and Complexity

, Volume 29, Issue 4, pp 978–990 | Cite as

Full-order sliding mode control for high-order nonlinear system based on extended state observer

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Abstract

In this paper, a full-order sliding mode control based on extended state observer (FSMC+ ESO) is proposed for high-order nonlinear system with unknown system states and uncertainties. The extended state observer (ESO) is employed to estimate both the unknown system states and uncertainties so that the restriction that the system states should be completely measurable is relaxed, and a full-order sliding mode controller is designed based on the ESO estimation to overcome the chattering problem existing in ordinary reduced-order sliding mode control. Simulation results show that the proposed method facilitates the practical application with respect to good tracking performance and chattering elimination.

Keywords

Extended state observer full-order sliding mode control high-order nonlinear system 
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Copyright information

© Institute of Systems Science, Academy of Mathematics and Systems Science, CAS and Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  1. 1.College of Information EngineeringZhejiang University of TechnologyHangzhouChina

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