Robust sliding mode control for nonlinear uncertain time-delay systems based on disturbance observer

Authors:
Han Yunhao;Mi Yang;Li Juntao;Yuanwei Jing
Affiliations:
Shanghai University of Electric Power, Shanghai, China;Shanghai University of Electric Power, Shanghai, China;College of Mathematics and information science, Henan Normal University, Xinxiang, China and The Seventh Research Division, Beijing University of Aeronautics and Astronautics, Beijing, China;School of Information Science and Engineering, Northeastern University, Shenyang, Liaoning Province, PR, China
Venue:
CCDC'09 Proceedings of the 21st annual international conference on Chinese control and decision conference
Year:
2009

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Abstract

The disturbance-observer-based sliding mode controller is designed for a class of nonlinear uncertain time-delay systems. A disturbance observer, unbiased in terms of the weighted mean, is designed to estimate the lumped disturbances with time-varying delay by the current system states, and the corresponding estimation error is analyzed. By incorporating H∞ control technique into sliding mode control approach, integral sliding mode controllers are designed to guarantee the H∞ performance of sliding mode dynamics and satisfy the reaching condition. The proposed scheme does not require uncertainties to satisfy matching condition and linear boundary condition, and chattering is efficiently restrained as well. A simulation example illustrates the obtained results.