This paper proposes an efficient sensorless speed estimation approach for electric servo drives based on the full-order nonsingular terminal sliding mode observer (FONTSM) with the application of DC motor drives. In this method, a specific full-order terminal sliding mode manifold is utilised for the observer design which results in the elimination of the chattering and avoiding the singularity phenomenon of conventional and terminal sliding modes. Here, speed and armature back emf can be directly estimated from the relevant observer’s inputs which are continuous instead of being discontinuous high-frequency “switching” signals. The efficiencies and advantages of this approach have been proven and validated in both simulation and experimental results.
This paper addresses the problem of nonlinear robust adaptive output feedback controller for a class of underactuated aerial vehicles with input and output constraints. To solve the problem, the modular design strategy is proposed for the control design. By using the neural networks (NNs) to approximate system uncertainties and observers to reconstruct system states, robust adaptive output feedback controllers are developed. By using a combination of saturation functions and barrier functions, input and output constraints are simultaneously dealt with. The design methodology shows that a cascaded system of an input-to-state stable (ISS) subsystem driven by an ultimate bounded (UB) subsystem enjoys ultimate boundedness property. In addition, the tracking error converges to adjustable neighbourhoods of the origin.
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