Linear extended state observer based sliding mode disturbance decoupling control for nonlinear multivariable systems with uncertainty

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• 作者：Hai-Long Xing ; Dong-Hai Li ; Juan Li…
• 刊名：International Journal of Control, Automation and Systems
• 出版年：2016
• 出版时间：August 2016
• 年：2016
• 卷：14
• 期：4
• 页码：967-976
• 全文大小：628 KB
• 刊物类别：Engineering
• 刊物主题：Control Engineering
  
• 出版者：The Institute of Control, Robotics and Systems Engineers and The Korean Institute of Electrical Engi
• ISSN：2005-4092
• 卷排序：14

文摘

In this paper, the sliding mode dynamic disturbance decoupling tracking control method based on the linear extended state observer (LESO) is proposed for a class of square multivariable nonlinear uncertain system. The model plant contains the known linear dynamics, the unknown nonlinear dynamics and the internal and external disturbances, and the various input-output pairs are interacted. The system states are not available for measurement. An improved LESO is developed. The leading feature which is different from the typical ESO lies in that its extended state does not contain the known linear dynamics. The improved LESO can guarantee the error variables to be uniformly ultimately bounded with respect to a ball whose radius is a function of design parameters. So this ball radius can be arbitrarily as small as desired by tuning design parameters. And we give a simple method by which the gain parameters of LESO can be computed easily. This estimation to the total disturbance of the original system is introduced into the sliding mode control design to complete disturbance rejection and decoupling. Rigorous stability analysis shows that the system output can track the desired signal closely. Finally, a class of mass–spring–damper system is taken to make the numerical simulation analysis to illustrate the effectiveness of the proposed control method.KeywordsDisturbance decouplingextended state observermultivariable systemssliding mode controluncertain systems