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Reduced-order disturbance observer-based adaptive reaching law control for discretized MIMO systems with unmatched uncertainties

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Abstract

In this paper, an adaptive discrete-time sliding mode control based on reduced-order disturbance observer is proposed for discretized multi-input multi-output systems subjected to unmatching condition. By using the designed discrete reduced-order disturbance observer, a new sliding surface is constructed to counteract the unmatched uncertainties. Then, to guarantee a smaller width of the quasi-sliding mode domain, an adaptive reaching law is developed, whose switching gain is adaptively tuned to prevent overestimation of disturbance on the premise of ensuring the reaching condition of sliding surface; meanwhile, the ranges of the quasi-sliding mode band and attractiveness region are deduced. The proposed control algorithm has low computational complexity and needs no information about the upper bound of unmatched uncertainty. The simulations on the control of a bank-to-turn missile demonstrates that the proposed method can effectively reject unmatched disturbance and provide higher accuracy in comparison with traditional methods.

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Data availability statement

The datasets generated during and/or analyzed during the current study are available in the [Open Science Framework] repository, [https://osf.io/gn7xv/?view_only=b4b9d5f6fe89422eb2b3399e83f8c91a].

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Authors and Affiliations

  1. School of Astronautics, Harbin Institute of Technology, Harbin, China

    Cong Wang, Hongwei Xia & Shunqing Ren

  2. School of Automation and Electrical Engineering, Harbin Institute of Technology, Harbin, China

    Yanmin Wang

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  1. Cong Wang
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  2. Hongwei Xia
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  3. Yanmin Wang
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Correspondence to Cong Wang.

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Wang, C., Xia, H., Wang, Y. et al. Reduced-order disturbance observer-based adaptive reaching law control for discretized MIMO systems with unmatched uncertainties. Nonlinear Dyn 105, 1611–1623 (2021). https://doi.org/10.1007/s11071-021-06646-2

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  • DOI: https://doi.org/10.1007/s11071-021-06646-2

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