Sliding mode control with disturbance observer for a class of nonlinear systems
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This paper is concerned with the stabilization problem for a class of nonlinear systems with disturbance. The disturbance model is unknown and the first derivative of disturbance is bounded. Firstly, a general disturbance observer is proposed to estimate disturbance approximatively. Secondly, since the bound of the disturbance observer error is unknown, an adaptive sliding mode controller is designed to guarantee that the state of system asymptotically converges to zero and the unknown bound can be adjusted by an adaptive law. Finally, an example is given to illustrate the effectiveness of the proposed method.
KeywordsNonlinear systems disturbance observer adaptive sliding mode control derivative of disturbance asymptotic stability
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- C. C. Wang, M. Tomizuka. Design of robustly stable disturbance observers based on closed loop consideration using H ∞ optimization and its applications to motion control systems. In Proceedings of the 2004 American Control Conference, IEEE, Boston, MA, USA, vol. 4, pp. 3764–3769, 2004.Google Scholar