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Disturbance Suppression and Contour Following Accuracy Improvement: An Adaptive PI-Type Sliding Mode Nonlinear Extended State Observer Approach

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Abstract

The main idea behind the conventional extended state observer is that the total disturbance including nonlinearity, modeling error, and external disturbance, etc., is regarded as an augmented state variable which can be estimated using system input/output, system parameters and a nonlinear function. In order to further improve estimation accuracy, this paper proposes an adaptive PI-type sliding mode nonlinear extended state observer (APISMESO). In particular, a nonlinear function that contains an integral term is used in the proposed observer structure to reduce estimation error, especially when dealing with static friction and high-frequency noise often existing in servomechanisms. Moreover, an adaptive law is designed to provide on-line estimation of system parameters. In addition, the stability of the complementary sliding mode control scheme with the proposed APISMESO is investigated using the Lyapunov stability theory. Several contour following experiments are performed to compare the performance of the proposed APISMESO with that of several existing variants of extended state observers. Experimental results reveal that the proposed APISMESO outperforms the other variants of extended state observers also tested in the experiment.

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Acknowledgements

The authors would like to thank the Ministry of Science and Technology, Taiwan, for support of this research under Grant No. MOST 105-2221-E-006-105-MY3.

Funding

This paper is supported in part by the Ministry of Science and Technology, Taiwan, under Grant No. MOST 105-2221-E-006-105-MY3.

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Authors and Affiliations

  1. Department of Electrical Engineering, National Cheng Kung University, No. 1, University Rd., East Dist., Tainan City, 701, Taiwan (R.O.C.)

    Yen-Chun Chen, Yan-Rou Cai & Ming-Yang Cheng

  2. Department of Electrical Engineering, National Kaohsiung University of Science and Technology, No. 1, University Rd, Yanchao Dist., Kaohsiung, 82445, Taiwan (R.O.C.)

    Ke-Han Su

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  1. Yen-Chun Chen
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Correspondence to Ming-Yang Cheng.

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Chen, YC., Cai, YR., Cheng, MY. et al. Disturbance Suppression and Contour Following Accuracy Improvement: An Adaptive PI-Type Sliding Mode Nonlinear Extended State Observer Approach. Int. J. Precis. Eng. Manuf. 24, 353–370 (2023). https://doi.org/10.1007/s12541-022-00754-8

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