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Sliding mode control with disturbance observer for a class of nonlinear systems

  • Lei-Po LiuEmail author
  • Zhu-Mu Fu
  • Xiao-Na Song
Regular Paper

Abstract

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.

Keywords

Nonlinear systems disturbance observer adaptive sliding mode control derivative of disturbance asymptotic stability 

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Copyright information

© Institute of Automation, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  1. 1.College of Electric and Information EngineeringHenan University of Science and TechnologyLuoyangChina

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