Sliding mode control with disturbance observer for a class of nonlinear systems

Authors:
Lei-Po Liu;Zhu-Mu Fu;Xiao-Na Song
Affiliations:
College of Electric and Information Engineering, Henan University of Science and Technology, Luoyang, China 471003;College of Electric and Information Engineering, Henan University of Science and Technology, Luoyang, China 471003;College of Electric and Information Engineering, Henan University of Science and Technology, Luoyang, China 471003
Venue:
International Journal of Automation and Computing
Year:
2012

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Abstract

This paper is concerned with the stabilization problem for a class of nonlinear systems with disturbance. The disturbance model is unknown and the first derivative of disturbance is bounded. Firstly, a general disturbance observer is proposed to estimate disturbance approximatively. Secondly, since the bound of the disturbance observer error is unknown, an adaptive sliding mode controller is designed to guarantee that the state of system asymptotically converges to zero and the unknown bound can be adjusted by an adaptive law. Finally, an example is given to illustrate the effectiveness of the proposed method.