Output feedback‐based sliding mode control for disturbed motion control systems via a higher‐order ESO approach

• DOI: 10.1049/iet-cta.2018.5197
• Publication Date: 2018-07-17T02:27:11Z
• Authors: Jianliang Mao; Jun Yang; Shihua Li; Yunda Yan; Qi Li
• Keywords: Feedback Control; Mode (computer interface)

This study presents an output feedback‐based sliding mode control approach for motion systems with mismatched/matched disturbances. The key idea of this is to reconstruct the unmeasured auxiliary states and disturbances synchronously online by constructing a higher‐order extended state observer (HOESO). It shown that resulting controller based on HOESO can drive system ultimately bounded region, which be regulated arbitrarily small assigning sufficiently large scaling gain. Different from existing methods, newly proposed treats known dynamics satisfying Lipschitz condition unknown separately. As such, it provides feasible way higher‐precision states/disturbance estimation. Thanks utilisation HOESO, upper bound not necessarily required as priori switching gain adaptively chosen estimation error such chattering effects significantly reduced. Experiments speed regulation brushless DC motor are conducted verify effectiveness method.