Full-Order Observer for a Class of Nonlinear Systems With Unmatched Uncertainties: Joint Attractive Ellipsoid and Sliding Mode Concepts

Sanchez, Bonifacio; Cuvas, Carlos; Ordaz, Patricio; Santos-Sanchez, Omar; Poznyak, Alexander S.

doi:10.1109/tie.2019.2934066

Cited by 14 publications

(9 citation statements)

References 21 publications

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“…Inequality (15) shows that the sliding function s i converges to 0 in finite time. Furthermore, by using ( 10) and ( 12), we can conclude that the estimated errors ξi (t) = ξi (t) − 𝜉 i (t) = 𝛿 i − 𝜉 i (t) of disturbance will converge to 0 in finite time.…”

Section: Design Of Disturbance Observer Via Sliding-modementioning

confidence: 99%

“…Although many excellent research results have been reported, there are still many unsolved problems, such as disturbance and unknown gain function and so forth. In Reference 15, for the affine nonlinear systems suffer from disturbances and uncertainties, a full‐order observer which joins the ultimate uniform bounded stability and sliding‐mode is presented. In Reference 16, for fractional‐order systems with asymmetric time‐varying Pseudo‐state constraints and input nonlinearities, a NN controller is designed.…”

Section: Introductionmentioning

confidence: 99%

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Event‐triggered‐NN control for nonlinear system with unknown gain and disturbance

Chen

Shi

2022

Intl J Robust & Nonlinear

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In this article, the problem of tracking control for nonlinear system with unknown gain and disturbance is studied. First, to compensate for the adverse effects of disturbance, a disturbance observer via sliding‐mode is designed to estimate the disturbance, and the finite‐time convergence of estimation error is ensured under certain conditions. Then, an event‐triggered neural networks controller based on estimated disturbance is presented to achieve tracking control. Among which, the Nussbaum technique is employed to deal with the unknown gain, and the super‐twisting estimator is introduced to estimate the derivative of virtual control input. Then a time‐varying event‐triggered strategy is designed to reduce communication load. Furthermore, the stability analysis shows that the close‐loop signals are bounded, the tracking error converges to a small compact set, and no Zeno phenomenon occurs. Finally, two examples are provided to illustrate the effectiveness of the proposed new design schemes.

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Section: Design Of Disturbance Observer Via Sliding-modementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Event‐triggered‐NN control for nonlinear system with unknown gain and disturbance

Chen

Shi

2022

Intl J Robust & Nonlinear

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“…The conventional sliding-mode control can only compensate for the matched uncertainties existing in the same channel with the control input [23]. However, the uncertainties may not satisfy the so-called matched condition, which becomes a challenge for sliding-modecontroller design [24]. To compensate for the unmatched uncertainties, many improved SMC methods have been proposed, such as integral-sliding-mode control (ISMC) [25], disturbance-observer-based sliding-mode control (DOBSMC) [26] and backstepping [27].…”

Section: Introductionmentioning

confidence: 99%

Full-Order Terminal Sliding-Mode Control for Soft Open Point

Zhou

et al. 2022

Energies

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In this paper, a full-order terminal sliding-mode control method is proposed for the rectifier side and the inverter side of the soft open point (SOP). The rectifier-side DC voltage control system consists of the voltage- and current-loops with controllers which are designed using full-order sliding-mode (FOSM) to enhance the dynamic performances and anti-disturbance. The integral type virtual control signal without chattering is designed to compensate for the unmatched uncertainties including external disturbances and some parameter perturbations. The full-order terminal sliding-mode (FOTSM) controller for the current-loop can force the current response to track its reference in finite time. The inverter side power control system is designed to regulate the power. The FOTSM controller for the power-loop ensures the power-tracking accuracy under a disturbed condition. Finally, the simulations demonstrate the effectiveness of the proposed controllers for the rectifier and inverter sides in the soft open point (SOP).

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“…Jamin et al [21] applied a fuzzy logic controller to a two-wheeled wheelchair with a movable payload, where the control parameters were optimized by the spiral dynamic algorithm. S'anchez et al [22] developed a full-order observer without using the unavailable state variables. They applied the algorithm to an inverted pendulum system and achieved a steady-state error of less than 1 • .…”

Section: Introductionmentioning

confidence: 99%

Decoupled Multi-Loop Robust Control for a Walk-Assistance Robot Employing a Two-Wheeled Inverted Pendulum

et al. 2021

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This paper develops a decoupled multi-loop control for a two-wheeled inverted pendulum (TWIP) robot that can assist user’s with walking. The TWIP robot is equipped with two wheels driven by electrical motors. We derive the system’s transfer function and design a robust loop-shaping controller to balance the system. The simulation and experimental results show that the TWIP system can be balanced but might experience velocity drifts because its balancing point is affected by model variations and disturbances. Therefore, we propose a multi-loop control layout consisting of a velocity loop and a position loop for the TWIP robot. The velocity loop can adjust the balancing point in real-time and regulate the forward velocity, while the position loop can achieve position tracking. For walking assistance, we design a decoupled control structure that transfers the linear and rotational motions of the robot to the commands of two parallel motors. We implement the designed controllers for simulation and experiments and show that the TWIP system employing the proposed decoupled multi-loop control can provide satisfactory responses when assisting with walking.

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Full-Order Observer for a Class of Nonlinear Systems With Unmatched Uncertainties: Joint Attractive Ellipsoid and Sliding Mode Concepts

Cited by 14 publications

References 21 publications

Event‐triggered‐NN control for nonlinear system with unknown gain and disturbance

Event‐triggered‐NN control for nonlinear system with unknown gain and disturbance

Full-Order Terminal Sliding-Mode Control for Soft Open Point

Decoupled Multi-Loop Robust Control for a Walk-Assistance Robot Employing a Two-Wheeled Inverted Pendulum

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