Full-order sliding mode control for high-order nonlinear system based on extended state observer

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• 作者：Qiang Chen ; Liang Tao ; Yurong Nan
• 刊名：Journal of Systems Science and Complexity
• 出版年：2016
• 出版时间：August 2016
• 年：2016
• 卷：29
• 期：4
• 页码：978-990
• 全文大小：968 KB
• 刊物类别：Mathematics and Statistics
• 刊物主题：Systems Theory and Control
  Applied Mathematics and Computational Methods of Engineering
  Operations Research/Decision Theory
  Probability Theory and Stochastic Processes
  
• 出版者：Academy of Mathematics and Systems Science, Chinese Academy of Sciences, co-published with Springer
• ISSN：1559-7067
• 卷排序：29

文摘

In this paper, a full-order sliding mode control based on extended state observer (FSMC+ ESO) is proposed for high-order nonlinear system with unknown system states and uncertainties. The extended state observer (ESO) is employed to estimate both the unknown system states and uncertainties so that the restriction that the system states should be completely measurable is relaxed, and a full-order sliding mode controller is designed based on the ESO estimation to overcome the chattering problem existing in ordinary reduced-order sliding mode control. Simulation results show that the proposed method facilitates the practical application with respect to good tracking performance and chattering elimination.KeywordsExtended state observerfull-order sliding mode controlhigh-order nonlinear system