IEEE Transactions on Industrial Electronics· 2012Q1
Sliding-Mode Control for Systems With Mismatched Uncertainties via a Disturbance Observer
- 1,316citations
- Q1SCImago
- 2012year
Short summary
A novel sliding-mode control (SMC) method uses a disturbance observer (DOB) to effectively counteract mismatched uncertainties, significantly reducing chattering and recovering nominal performance compared to baseline SMC and integral SMC.
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Key points
- A novel DOB-based SMC method is developed for systems with mismatched uncertainties.
- The method designs a sliding surface based on disturbance estimation.
- Switching gain only needs to exceed the disturbance estimation error bound, reducing chattering.
- The proposed method recovers nominal performance in the absence of uncertainties.
- Simulations show superior control performance and reduced chattering compared to baseline and integral SMC.
AI-generated from the title and abstract; the full text is not read.
Abstract
This paper develops a sliding-mode control (SMC) approach for systems with mismatched uncertainties via a nonlinear disturbance observer (DOB). By designing a novel sliding surface based on the disturbance estimation, a DOB-based SMC method is developed in this paper to counteract the mismatched disturbance. The newly proposed method exhibits the following two attractive features. First, the switching gain is only required to be designed greater than the bound of the disturbance estimation error rather than that of the disturbance; thus, the chattering problem is substantially alleviated. Second, the proposed method retains its nominal performance, which means the proposed method acts the same as the baseline sliding-mode controller in the absence of uncertainties. Simulation results of both the numerical and application examples show that the proposed method exhibits much better control performance than the baseline SMC and the integral SMC (I-SMC) methods, such as reduced chattering and nominal performance recovery.
The authors' abstract, as published at the source. IEEE Transactions on Industrial Electronics, 2012 · DOI ↗
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Field: Control and Systems Engineering
Control and Systems EngineeringEngineering