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The Design of Quasi-Optimal Higher Order Sliding Mode Control via Disturbance Observer and Switching-Gain Adaptation.
- Source :
-
IEEE Transactions on Systems, Man & Cybernetics. Systems . Nov2020, Vol. 50 Issue 11, p4817-4827. 11p. - Publication Year :
- 2020
-
Abstract
- In this paper, a quasi-optimal higher order sliding mode control (HOSMC) scheme is designed using disturbance observer (DOB) and adaptive techniques. The overall HOSMC scheme is constituted by three portions: 1) a switch-based quasi-optimal control law that ensures rapid finite-time stabilization of the origin, producing a nominally uncertainty-free system, based on a perturbed chain of integrators; 2) a DOB which estimates the lumped uncertainties with lower frequencies; and 3) an adaptive controller designed to deal with the fast-varying terms of these lumped uncertainties over the pass-band of the DOB. Since the adaptive controller and the DOB work in a cooperative manner, the only requirement is that the switching gain be greater than the bound of the DOB estimation error, instead of the bound of the lumped uncertainties. As a consequence, overestimation in the adaptive controller can be avoided by resorting to the equivalent control. Simulation results confirm the capabilities of the proposed control strategy. [ABSTRACT FROM AUTHOR]
- Subjects :
- *SLIDING mode control
Subjects
Details
- Language :
- English
- ISSN :
- 21682216
- Volume :
- 50
- Issue :
- 11
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Systems, Man & Cybernetics. Systems
- Publication Type :
- Academic Journal
- Accession number :
- 146472553
- Full Text :
- https://doi.org/10.1109/TSMC.2018.2866856