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Observer-based Composite Adaptive Dynamic Terminal Sliding-mode Controller for Nonlinear Uncertain SISO Systems

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Abstract

In the present paper, the observer-based composite adaptive terminal sliding-mode control is investigated for the nonlinear uncertain system. First, an adaptive observer is designed to estimate the unavailable high-order derivative of the output. Then, a new dynamic terminal sliding surface is proposed with a state filter, which aims to develop the dynamic terminal sliding mode controller. By the composite adaptive control methods, a new adaptive law is designed, and the stability of the overall system is proofed based on the Lyapunov method. Finally, some numerical simulations are conducted to validate the effectiveness of the proposed algorithm.

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Authors and Affiliations

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Correspondence to Shengbo Qi.

Additional information

Recommended by Editor Jessie (Ju H.) Park. This journal was supported by the National Science Foundation of China (No. 51709248 and 51505475), UOW VC Fellowship, and the National Research Foundation of South Africa (No. IFR160118156967 and RDYR160404161474). The authors would like to express their gratitude for the reviewerss constructive comments.

Xiaofei Liu is a master student at School of Engineering, Ocean University of China. Her research interests include nonlinear control, adaptive control, and system identification.

Shengbo Qi is an Associate Professor at School of Engineering, Ocean University of China. He received the PhD degree in Mechatronic Engineering from Shandong University in 2011. His research interests include nonlinear control and adaptive control.

Reza Malekian is an Associate Professor and Head of Advanced Sensor Networks Research Group in the Department of Electrical, Electronic, and Computer Engineering, at the University of Pretoria, South Africa. His current research interests include advanced sensor networks, Internet of Things, and mobile communications. Dr. Malekian is also a Chartered Engineer and a Professional Member of the British Computer Society. He is an Associate Editor for IEEE Internet of Things Journal.

Zhixiong Li received his Ph.D. degree in Transportation Engineering from Wuhan University of Technology, China in 2013. His research interests include mechanical system modeling and control. He is an associate editor for the Journal of IEEE Access.

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Liu, X., Qi, S., Malekain, R. et al. Observer-based Composite Adaptive Dynamic Terminal Sliding-mode Controller for Nonlinear Uncertain SISO Systems. Int. J. Control Autom. Syst. 17, 94–106 (2019). https://doi.org/10.1007/s12555-018-0117-7

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  • DOI: https://doi.org/10.1007/s12555-018-0117-7

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