A new state and perturbation observer based sliding mode controller for uncertain systems

Abstract

This paper proposes a new continuous sliding mode controller and observer for perturbed systems. The controller, which does not need any knowledge of bounds of any perturbation, is estimated using the uncertainty and disturbance estimation technique and implemented with observer states. The stability of the overall observer-controller combination is proved. The controller-observer combination is validated by implementing the scheme for an actual hardware set-up of serial flexible joint in laboratory.

State and perturbation observer based state feedback control for active suspension

“…In this section, a state and perturbation observer is used [8] to observe the internal states as well as perturbation. The dynamics of observer is given by…”

“…The disturbance estimation using inertial delay control is discussed in [7] . A new state and disturbance observer is designed in [8] , where the observer estimates the states and the lumped disturbances simultaneously using input output informations only and is combined with the sliding mode controller. This paper utilizes the observer proposed in [8] to estimate the road disturbances, parametric uncertainties and sprung mass velocity estimation using the sprung mass position and input force.…”

“…The road profiles(8) are mainly taken from[7] . The mathematical expression for the bumpy road named as 'profile-I' is expressed as C. Error dynamicsDefine the observer estimation error as x= x-x e= e-e…”