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

Lu, Yu-Sheng; Chiu, Chien-Wei

doi:10.1007/s12555-011-0224-1

Cited by 26 publications

(12 citation statements)

References 16 publications

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“…Consider the multiagent tracking control of second-order MAS (19) in presence of matched and unmatched uncertainties which include input saturation and unknown leader acceleration. A finite-time converging performance is obtained according to a SMDOB (32) and a control protocol (33). Then, the MAS (19) is stable and the tracking error will converge to a bounded set as time going.…”

Section: Control Protocol Design For Unmatched Uncertaintiesmentioning

confidence: 99%

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A Novel Disturbance Observer for Multiagent Tracking Control with Matched and Unmatched Uncertainties

Zhao

2019

Mathematical Problems in Engineering

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In this paper, multiagent tracking control problem of second-order multiagent systems with unknown leader acceleration, input saturation, and matched and unmatched disturbances is investigated. An auxiliary system is constructed to approximate system position states, and a novel sliding mode disturbance observer is designed to estimate matched and unmatched uncertainties. A sliding mode disturbance observer-based control protocol is proposed by constructing a novel sliding mode manifold based on the sliding mode disturbance observer outputs. In addition, the input saturation and the unknown leader acceleration become a part of lumped uncertainties by using mathematic transformation. The lumped uncertainties estimated by the sliding mode disturbance observer are compensated by the sliding mode disturbance observer-based control protocol. Stability of the second-order multiagent systems is guaranteed via Lyapunov method. Finally, a simulation example is proposed to exhibit advantages and availability of the developed techniques.

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Section: Control Protocol Design For Unmatched Uncertaintiesmentioning

confidence: 99%

“…It means the tracking trajectory could have the property of chattering reduction as well as excellent dynamic and static performance. The readers can also refer to [32][33][34] for the same argument.…”

Section: )mentioning

confidence: 99%

A Novel Disturbance Observer for Multiagent Tracking Control with Matched and Unmatched Uncertainties

Zhao

2019

Mathematical Problems in Engineering

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“…All the methods mentioned above are integrated into the SMC to counteract the mismatched disturbance. The nonlinear disturbance observer (NDO) [24,[30][31][32] can also be used for estimating the mismatched disturbance to design the new SMC with the property of robustness to the mismatched disturbance. A disturbance observer based on the variable structure system theory for minimum-phase dynamical systems with arbitrary relatives has been proposed in [33] when the upper and lower bounds of disturbance are assumed to be known as prior information.…”

Section: Introductionmentioning

confidence: 99%

Novel Adaptive Sliding Mode Control with Nonlinear Disturbance Observer for SMT Assembly Machine

Qian

Luo

Zhao

et al. 2016

Mathematical Problems in Engineering

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This paper presents a novel adaptive sliding mode control based on nonlinear sliding surface with disturbance observer (ANSMC-DOB) for precision trajectory tracking control of a surface mount technology (SMT) assembly machine. A two-degree-of-freedom model with time-varying parameter uncertainties and disturbances is built to describe the first axial mode of the pick-place actuation axis of the machine. According to the principle of variable damping ratio coefficient which makes the system have a nonovershoot transient response and a short settling time in the second-order system, the nonlinear sliding surface is designed for the sliding mode control (SMC). Since the upper bound value of the disturbances is unknown, the adaptive gain estimation is applied to replace the switching gain in the SMC. In order to settle the problem of SMC unrobust to the mismatched parameter uncertainties and disturbances, the nonlinear disturbance observer is introduced to estimate the mismatched disturbances and form the novel controller of ANSMC-DOB. The stability of sliding surfaces and control laws are verified by the Lyapunov functions. The simulation research and comparative experiments are conducted to verify the improvement of positioning accuracy and robustness by the proposed ANSMC-DOB in the SMT assembly machine.

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“…Such techniques have been proposed in [13]- [17] to deal with matched disturbances and more recently in [18] with unmatched ones.…”

Section: Introductionmentioning

confidence: 99%

Sliding mode control for diesel generator via disturbance observer

Gabsi

Ali

Langlois

2015

2015 23rd Mediterranean Conference on Control and Automation (MED)

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This paper develops a sliding mode controller via nonlinear disturbance observer for diesel generator system subject to matched and unmatched disturbances. The proposed controller is based upon a novel nonlinear disturbance observer structure which uses the concept of total disturbance estimation in order to estimate simultaneously the matched and the unmatched disturbances in the system. This estimation is incorporated then in a composite observer based controller where the Lyapunov based stability analysis is given. Simulations results illustrate the effectiveness of the proposed controller compared to the baseline sliding mode controller and shows its advantages in terms of disturbance rejection, chattering reduction and nominal performance recovery.

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

Cited by 26 publications

References 16 publications

A Novel Disturbance Observer for Multiagent Tracking Control with Matched and Unmatched Uncertainties

A Novel Disturbance Observer for Multiagent Tracking Control with Matched and Unmatched Uncertainties

Novel Adaptive Sliding Mode Control with Nonlinear Disturbance Observer for SMT Assembly Machine

Sliding mode control for diesel generator via disturbance observer

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