Coupled disturbance reconstruction by sliding mode observer approach for nonlinear system

Yi, Sun; Yu, Jinyong; Li, Zhan; Liu, Yu

doi:10.1007/s12555-016-0575-8

Cited by 8 publications

(8 citation statements)

References 25 publications

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“…It follows from (1) that the zero dynamics is constant and equal to zero. In this case, the observer designs including the high-gain observer [10,11,19] and sliding mode observer [12][13][14][15][16][17][18] can be usually used to estimate the system states. In this paper, the observer structure, which is similar to the sliding mode observer but uses the different analysis method to design the parameters, can precisely estimate the real states.…”

Section: Problem Formulationmentioning

confidence: 99%

“…Due to peaking response, the observer-based controller generates high-gain control input, which usually creates an input saturation problem. In recent years, the discontinuous technique for 2 Journal of Control Science and Engineering designing observers has been intensively developed [12][13][14][15][16][17] due to their robustness property. Sliding mode observer [13][14][15] or robust exact differentiator [16][17][18] provides an alternative design for estimation of uncertain nonlinear systems.…”

Section: Introductionmentioning

confidence: 99%

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Robust Output Feedback Passivity-Based Variable Structure Controller Design for Nonlinear Systems

Chang

2019

Journal of Control Science and Engineering

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This paper examines the use of an output feedback variable structure controller with a nonlinear sliding surface for a class of SISO nonlinear systems in the presence of matched disturbances. With only the measurable system output, the discontinuous observer reconstructs the system states and ensures that the estimation errors exponentially approach zero. Using the estimation states, the proposed nonlinear sliding surface with variable damping ratio can simultaneously achieve low overshoot and short settling time. Then the passivity-based controller including a discontinuous term can guarantee that the closed-loop system asymptotically converges to the sliding surface. Compared with other sliding mode controllers, the proposed passivity-based control scheme has better transient performance and effectively reduces the control gain. Finally, simulation results demonstrate the validity of the proposed method.

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Section: Problem Formulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust Output Feedback Passivity-Based Variable Structure Controller Design for Nonlinear Systems

Chang

2019

Journal of Control Science and Engineering

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“…An alternative approach to deal with disturbances and uncertainties is the so-called “observer-based technique,” 17 such as sliding mode observer (SMO)-based control, 18 disturbance observer-based control, 19 and extended state observer (ESO)-based control. 20 Recently, Sun et al 21 utilized SMO approach to estimate the decoupled disturbances and full system states of nonlinear systems and got satisfactory control performance. Niu et al 22 proposed a nonlinear disturbance observer-based sliding mode control for trajectory tracking of cable-driven rehabilitation robot.…”

Section: Introductionmentioning

confidence: 99%

Finite-time tracking control for uncertain robotic manipulators using backstepping method and novel extended state observer

Chen

Zhang

et al. 2019

International Journal of Advanced Robotic Systems

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This article considers finite-time trajectory tracking control problem for robotic manipulators with parameter uncertainties and external disturbances. A finite-time controller that achieves high precision and strong robustness is proposed without the requirement of the exact dynamic model. First, a novel finite-time model-assisted extended state observer is designed to compensate the system uncertainties with complex and uncertain dynamics. Then, a composite finite-time controller is developed for trajectory tracking control with the help of finite-time model-assisted extended state observer. Compared to the classic extended state observer, it is proved that the estimation error of finite-time modelassisted extended state observer can be stabilized in finite time. Meanwhile, the finite-time convergence of the closed-loop system with the proposed controller can also be proved through Lyapunov's stability theory. A variable structure term is employed to compensate the estimation errors of finite-time model-assisted extended state observer. The validity of the control scheme is demonstrated by simulations and experiments.

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“…Sliding mode observers (SMO) exhibit inherent robustness properties to certain disturbances [13]. SMO can reconstruct disturbances by means of the equivalent output injection term [14] and they are suitable for robust residual generator [15]. This work exploits those applications to build to remove the meal announcement.…”

Section: Introductionmentioning

confidence: 99%

Sliding-mode disturbance observers for an artificial pancreas without meal announcement

Sala-Mira

Díez

Ricarte

et al. 2019

Journal of Process Control

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Carbohydrate counting is not only a burden for patients with type 1 diabetes, but estimation errors in meal announcement could also degrade the outcomes of the current hybrid closed-loop systems. Therefore, removing meal announcement is desirable. A novel control system is addressed here to face postprandial control without meal announcement. The proposed system grounds on two applications of the sliding mode observers in dealing with disturbances: first, the equivalent output technique is used to reconstruct the meal rate of glucose appearance via a first order sliding mode observer; second, a supertwisting-based residual generator is used to detect the meals. Subsequently, a bolusing algorithm uses the information of the two observers to trigger a series of boluses based on a proportional-derivative-Q1 like strategy. An in silico validation with 30 patients in a 30-day scenario reveals that the meal detector algorithm achieves a low rate of false positives per day (0.1 (0.1), mean (SD)) and a detection time of 28.5(6.2) min. Additionally, the bolusing algorithm fulfills a non-statistically different mean glucose than the hybrid counterpart with bolus misestimation (146.69 (12.20) mg/dL vs. 144.28 (11.01) mg/dL, p>0.05), without increasing hypoglycemia (0.029 (0.077) vs. 0.004 (0.014)%, p > 0,05), although at the expense of a slightly higher time in hyperglycemia (22.51(8.72) % vs. 18.65 (7.89)%, p < 0.05) due to the conservative tuning of the bolusing algorithm for the sake of safety.

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Coupled disturbance reconstruction by sliding mode observer approach for nonlinear system

Cited by 8 publications

References 25 publications

Robust Output Feedback Passivity-Based Variable Structure Controller Design for Nonlinear Systems

Robust Output Feedback Passivity-Based Variable Structure Controller Design for Nonlinear Systems

Finite-time tracking control for uncertain robotic manipulators using backstepping method and novel extended state observer

Sliding-mode disturbance observers for an artificial pancreas without meal announcement

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