Implementation of second order sliding mode disturbance observer for a one-link flexible manipulator using Dspace Ds1104

Tarla, Lahssan Ben; Bakhti, Mohammed; Idrissi, Badr Bououlid

doi:10.1007/s42452-020-2304-4

Cited by 8 publications

(6 citation statements)

References 14 publications

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“…For instance, nonlinear state observers can be used to estimate biochemical reaction terms [4,5]. Furthermore, sliding mode and super twisting observers (STO) are capable of guaranteeing convergence of the estimation error towards zero or a small value, while accounting for disturbance terms, which can be caused by unmodelled variations, unknown model terms or measurement noise [6][7][8][9]. In addition, STOs achieve fast and finite time convergence [2,10,11].…”

Section: Introductionmentioning

confidence: 99%

Design and Evaluation of a Robust Observer Using Dead-Zone Lyapunov Functions—Application to Reaction Rate Estimation in Bioprocesses

2022

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This paper addresses the design and evaluation of a robust observer for second order bioprocesses considering unknown bounded disturbance terms and uncertainty in the dynamics of the unknown and known states. The observer design and the stability analysis are based on dead-zone Lyapunov functions, and a detailed procedure is provided. The transient response bounds and the convergence region of the unknown observer error are determined in terms of the disturbance bounds, considering persistent but bounded disturbances in the dynamics of both the known and unknown observer errors. This is a significant contribution to closely related observer design studies, in which the transient response bounds are determined, but persistent and bounded disturbances are not considered in the dynamics of the known observer error. Other important contributions are: (i) the procedure for defining the observer parameters is significantly simpler than common observer designs, since a solution to the Ricatti equation, solution to LMI constraints, or the accomplishment of eigenvalue inequality conditions are not required; (ii) discontinuous signals are not used in the observer; and (iii) the effect of the gain sign associated with the unknown state in the dynamics of the known state is explicitly and clearly considered in the observer design and in the convergence study. In addition, the guidelines for selecting the observer parameters are provided. Numerical simulation confirms the stability analysis results: the observer errors converge within a short time, with a low estimation error, if observer-parameters are properly defined.

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Section: Introductionmentioning

confidence: 99%

Design and Evaluation of a Robust Observer Using Dead-Zone Lyapunov Functions—Application to Reaction Rate Estimation in Bioprocesses

2022

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“…Robust observer designs have been developed for tackling uncertainty in the dynamics of observation errors. Common designs consider: (i) a lack of knowledge in the dynamics of the observation error for the unknown state; (ii) an unknown term of the unknown state in the dynamics of the observation error for the known state [10,[16][17][18][19][20][21][22]. In the case that the dynamics of the observation error for the known state involves an additional additive uncertain term and it is persistent but bounded, the steady state estimation involves error, even if a discontinuous observer is used.…”

Section: Introductionmentioning

confidence: 99%

“…(ii) Advantage A2. Different from [10,[16][17][18][19][20][21][22], unknown bounded terms are considered in the dynamics of the observer error for the known state. (iii) Advantage A3.…”

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A Simplified Algorithm for Setting the Observer Parameters for Second-Order Systems with Persistent Disturbances Using a Robust Observer

Rincón

Hoyos

Candelo-Becerra

2022

Sensors

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The properties of the convergence region of the estimation error of a robust observer for second-order systems are determined, and a new algorithm is proposed for setting the observer parameters, considering persistent but bounded disturbances in the two observation error dynamics. The main contributions over closely related studies of the stability of state observers are: (i) the width of the convergence region of the observer error for the unknown state is expressed in terms of the interaction between the observer parameters and the disturbance terms of the observer error dynamics; (ii) it was found that this width has a minimum point and a vertical asymptote with respect to one of the observer parameters, and their coordinates were determined. In addition, the main advantages of the proposed algorithm over closely related algorithms are: (i) the definition of observer parameters is significantly simpler, as the fulfillment of Riccati equation conditions, solution of LMI constraints, and fulfillment of eigenvalue conditions are not required; (ii) unknown bounded terms are considered in the dynamics of the observer error for the known state. Finally, the algorithm is applied to a model of microalgae culture in a photobioreactor for the estimation of biomass growth rate and substrate uptake rate based on known concentrations of biomass and substrate.

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“…It is essential for the stable operation of the manipulator systems to suppress external disturbances. In articles [17][18][19][20][21], the disturbance observers are designed to eliminate the influence of disturbances on the manipulator systems. Unfortunately, it is difficult to observe the disturbances in practical systems.…”

Section: Introductionmentioning

confidence: 99%

Fixed-Time Bounded H Infinity Tracking Control of a Single-Joint Manipulator System with Input Saturation

chen

2021

Preprint

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Based on Lyapunov finite-time stability theory and backstepping strategy, we put forward a novel fixed-time bounded H infinity tracking control scheme for a single-joint manipulator system with input saturation. The main control objective is to maintain that the system output variable tracks the desired signal at fixed time. The advantages of this paper are the settling time of the tracking error converging to the origin is independent of the initial conditions, and its convergence speed is more faster. Meanwhile, bounded H infinity control is adopted to suppress the influence of the external disturbances on the controlled system. At the same time, the problem of input saturation control is considered, which effectively reduce the input energy consumption. Theoretical analysis shows that the tracking error of the closed-loop system converges to a small neighborhood of the origin within fixed time. In the end, a simulation example is presented to demonstrate the effectiveness of the proposed scheme.

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Implementation of second order sliding mode disturbance observer for a one-link flexible manipulator using Dspace Ds1104

Cited by 8 publications

References 14 publications

Design and Evaluation of a Robust Observer Using Dead-Zone Lyapunov Functions—Application to Reaction Rate Estimation in Bioprocesses

Design and Evaluation of a Robust Observer Using Dead-Zone Lyapunov Functions—Application to Reaction Rate Estimation in Bioprocesses

A Simplified Algorithm for Setting the Observer Parameters for Second-Order Systems with Persistent Disturbances Using a Robust Observer

Fixed-Time Bounded H Infinity Tracking Control of a Single-Joint Manipulator System with Input Saturation

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