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A stability-guaranteed integral sliding disturbance observer for systems suffering from disturbances with bounded first time derivatives

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Abstract

This paper presents an integral sliding disturbance observer (I-SDOB) to compensate for unknown disturbances for a class of nonlinear systems. To guarantee the existence of a sliding mode for disturbance estimation, the proposed I-SDOB needs only a small switching gain compared with conventional sliding disturbance observers, which leads to further alleviation of chatter. Moreover, the stability analysis of the controller-observer system is given based on the Lyapunov theory. Applications of the proposed scheme to a two-link robotic manipulator have been conducted, and experimental results confirm the effectiveness of the proposed scheme.

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Authors and Affiliations

  1. Department of Mechatronic Technology, National Taiwan Normal University, 162, He-ping East Rd., Sec. 1, Taipei, 106, Taiwan

    Yu-Sheng Lu

  2. Department of Mechanical Engineering, National Yunlin University of Science and Technology, 123, University Road, Section 3, Touliu, Yunlin, 640, Taiwan

    Chien-Wei Chiu

Authors
  1. Yu-Sheng Lu
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  2. Chien-Wei Chiu
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Correspondence to Yu-Sheng Lu.

Additional information

Recommended by Editor Young Il Lee. This work was supported by the National Science Council of ROC under grant NSC 98-2221-E-003-008-MY2.

Yu-Sheng Lu received his B.S. degree in Mechanical and Electrical Engineering from National Sun Yat-Sen University, Kaohsiung, Taiwan, in 1990, and his Ph.D. degree in Engineering from National Tsing Hua University, Hsinchu, Taiwan, in 1995. From 1997 to 1998, he was with the Electronics and Optoelectronics Research Laboratories (formerly Opto-Electronics and Systems Laboratories), Industrial Technology Research Institute, Taiwan. From 1998 to 2000, he was a Postdoctoral/Scientific Employee with the Institute of Robotics and Mechatronics, DLR, Germany. From 2000 to 2008, he was with the Department of Mechanical Engineering, National Yunlin University of Science and Technology, Yunlin, Taiwan. In 2008, he moved to the Department of Mechatronic Technology, National Taiwan Normal University, Taipei, Taiwan, where he is currently a Professor. His research interests include sliding-mode control and intelligent control with applications to mechatronic systems.

Chien-Wei Chiu was born in Taiwan on Feb. 20, 1981. He received his M.S. degree in Mechanical Engineering from National Yunlin University of Science and Technology, Yunlin, Taiwan, in 2006. He is currently a research and design engineer at the Foxconn Technology Group, Taiwan, and his research interests include robot control systems.

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Lu, YS., Chiu, CW. A stability-guaranteed integral sliding disturbance observer for systems suffering from disturbances with bounded first time derivatives. Int. J. Control Autom. Syst. 9, 402–409 (2011). https://doi.org/10.1007/s12555-011-0224-1

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  • DOI: https://doi.org/10.1007/s12555-011-0224-1

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