Disturbance Observer-Based Integral Sliding-Mode Control for Systems With Mismatched Disturbances

Zhang, Jinhui; Xinwei, Liu; Xia, Yuanqing; Zuo, Zhiqiang; Wang, Yijing

doi:10.1109/tie.2016.2583999

Cited by 288 publications

(154 citation statements)

References 24 publications

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“…Another efficient way of rejecting the disturbance is to use the disturbance observer (DOB). 23 By far, various types of DOB [24][25][26][27][28] design techniques have been presented for control systems to estimate the unknown disturbances and widely applied in industries, such as robotic systems 29 and servomechanisms. 30 More recently, various advanced DOBs have been developed, including NN disturbance observer (NNDOB), 27 fuzzy disturbance observer (FDOB) 31 and linear disturbance observer (LDOB).…”

Section: Introductionmentioning

confidence: 99%

Unknown input observer‐based robust adaptive funnel motion control for nonlinear servomechanisms

Wang

Ren

et al. 2018

Intl J Robust & Nonlinear

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Summary In this paper, an unknown input observer is proposed for servomechanisms with unknown dynamics (eg, nonlinear friction, parameter uncertainties, and external disturbance). An unknown input observer is developed by introducing auxiliary filtered variables in terms of first‐order low‐pass filters, where only one constant (filter parameter) needs to be tuned. A modified funnel variable is developed by using the tracking error to replace the scaling factor to improve the transient and steady‐state performance of the control systems. Then, a sliding mode surface with the new transformed error is defined and used to design a funnel nonsingular terminal sliding mode controller to achieve finite‐time convergence. In addition, the proposed funnel nonsingular terminal sliding mode controller method avoids the singularity problem in the conventional sliding mode control via modifying the terminal sliding manifold. Finally, experimental results are given to illustrate the effectiveness of the suggested control scheme.

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Section: Introductionmentioning

confidence: 99%

Unknown input observer‐based robust adaptive funnel motion control for nonlinear servomechanisms

Wang

Ren

et al. 2018

Intl J Robust & Nonlinear

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“…It can be seen that the DBS control method can track the reference rotation speed with smaller stability error, smaller overshoots, and less load torque fluctuations than that of the TBS method. Figures 9 and 10 show actual and estimated speed when the LMI-based disturbance observer and traditional observer scheme [16,18] are applied. It can be seen that the proposed observer can estimate the actual speed accurately, and it is more accurate, more efficient, and more stable than the traditional observer scheme.…”

Section: Numerical Simulation and Experimental Resultsmentioning

confidence: 99%

“…Assuming that the magnetic circuit of PMSM is unsaturated, magnetic hysteresis and eddy current loss are ignored; the traditional mathematical model of the PMSM can be given by the following equations under the -coordinate framework [3,[13][14][15][16]:…”

Section: Mathematical Model Of Permanent Magnet Synchronous Motormentioning

confidence: 99%

“…The proposed DOB controller involved the use of a back electromotive force observer and a torque observer to estimate rotor position and compensate for load torque disturbance, respectively. For the mismatched disturbance, in [16], a DOB integral sliding-mode control approach for linear systems with mismatched disturbances was presented. The disturbance observer is proposed to generate the disturbance estimate, which can be incorporated in the controller to counteract the disturbance.…”

Section: Introductionmentioning

confidence: 99%

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Disturbance Observer-Based Backstepping Control of PMSM for the Mine Traction Electric Locomotive

Yan

Wang

Huang

et al. 2018

Mathematical Problems in Engineering

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For the Permanent Magnet Synchronous Motor (PMSM) control system of the Mine Traction Electric Locomotive (MTEL), the fluctuation of the load will lead to the resonance of the velocity of the MTEL. In addition, the speed sensor is easy to be damaged due to the moisture, dust, and vibration. To solve the above problems, a disturbance observer-based (DOB) backstepping control of PMSM for the MTEL is proposed in this paper. First, a full-dimensional Luenberger observer for PMSM is designed and the asymptotically stability of the observer is proved. Next, through the designing of the virtual control input that includes the reconstruction disturbances and using backstepping control strategy, the DOB controller is proposed. The obtained controller can achieve high precision speed tracking and disturbance rejection. Finally, the effectiveness and feasibility of the designed system are verified by Matlab simulation and experiment results.

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“…In [12], the disturbance observer was proposed for permanent-magnet synchronous motor drivers. In [13], the sliding mode disturbance observer was presented to deal with mismatched disturbance. In [14], the disturbance observer was employed into a transport aircraft control system subject to continuous heavy cargo airdrop.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Constrained Control for Uncertain Nonlinear Time-Delay System with Application to Unmanned Helicopter

Chen

Yang

et al. 2018

Mathematical Problems in Engineering

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This paper investigates a class of nonlinear time-delayed systems with output prescribed performance constraint. The neural network and DOB (disturbance observer) are designed to tackle the uncertainties and external disturbance, and prescribed performance function is constructed for the output prescribed performance constrained problem. Then the robust controller is designed by using adaptive backstepping method, and the stability analysis is considered by using Lyapunov-Krasovskii. Furthermore, the proposed method is employed into the unmanned helicopter system with time-delay aerodynamic uncertainty. Finally, the simulation results illustrate that the proposed robust prescribed performance control system achieved a good control performance.

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Disturbance Observer-Based Integral Sliding-Mode Control for Systems With Mismatched Disturbances

Cited by 288 publications

References 24 publications

Unknown input observer‐based robust adaptive funnel motion control for nonlinear servomechanisms

Unknown input observer‐based robust adaptive funnel motion control for nonlinear servomechanisms

Disturbance Observer-Based Backstepping Control of PMSM for the Mine Traction Electric Locomotive

Adaptive Constrained Control for Uncertain Nonlinear Time-Delay System with Application to Unmanned Helicopter

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