Extended State Observer-Based Sliding Mode Control for Multi-input Multi-output System with Multiple Disturbances

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• 作者：R. M. Brisilla…
• 关键词：Sliding mode control ; Extended state observer ; Multi ; input multi ; output system ; Permanent magnet synchronous motor
• 刊名：Journal of Control, Automation and Electrical Systems
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：28
• 期：1
• 页码：11-25
• 全文大小：
• 刊物主题：Electrical Engineering; Control, Robotics, Mechatronics; Control; Robotics and Automation;
• 出版者：Springer US
• ISSN：2195-3899
• 卷排序：28

文摘

This paper proposes a generalized design procedure for the extended state observer-based sliding mode control for multi-input multi-output linear systems with multiple disturbances (matched and/or mismatched) using an extended state observer. First, the system is transferred to a regular form to decouple the states having matched and mismatched uncertainties; then, a novel sliding surface is designed based on the state and disturbance estimation obtained through extended state observer (ESO). The proposed generalized ESO-based sliding mode controller (SMC) is designed to counteract the effect of matched and/or mismatched disturbances which are bounded, while the classical SMC fails to provide the desired performance in the presence of mismatched disturbance. This paper develops a simple method for the design of sliding surface coefficients and the selection of switching gain. The proposed control strategy is validated through numerical simulations, and the comparison with ESO-based state feedback control shows a reduced-order closed-loop dynamics and better transient performance.