Abstract
This paper proposes an adaptive integral-type terminal sliding mode tracking control approach based on the active disturbance rejection for uncertain nonlinear systems subject to input saturation and external disturbances. Its main objective is to achieve zero tracking error in the presence of external disturbances, parametric uncertainties and input saturation; ubiquitous problems in most practical engineering systems. The proposed approach combines the robustness and chattering-free dynamics of adaptive integral-type sliding mode control with the estimation properties of a nonlinear extended state observer. It also assumes the bounds of the input saturation to be unknown. The asymptotic stability of the closed-loop system in the presence of disturbances, uncertainties and input saturation is proven using the Lyapunov theorem. The effectiveness of the proposed approach is assessed using a flexible-link robotic manipulator. The obtained results confirmed the robustness and god tracking performance of the proposed approach. Robustness, chattering-free dynamics and good tracking performance albeit input saturation are among the main features.
Highlights
Background and motivationIt is well known that actuator constraints, internal and external disturbances, such as modeling errors, parameter variations, uncertain external dynamics, widely exist in many practical engineering systems
In [33], a novel High-Order Sliding Mode Control (HOSMC) is designed for Single-Input-SingleOutput (SISO) and multi-variable systems with existing unmodeled dynamics and disturbances
NONLINEAR EXTENDED STATE OBSERVER DESIGN the external disturbances and uncertainties are considered as an extended state
Summary
It is well known that actuator constraints, internal and external disturbances, such as modeling errors, parameter variations, uncertain external dynamics, widely exist in many practical engineering systems. In the approaches that combine the intelligent and classic methods, we can list adaptive neural network [18] and fuzzy sliding mode control [19]. Sliding mode control (SMC) is among the most effective robust control technique for nonlinear systems with uncertainties and external disturbances [22]. It offers advantages such as good tracking performance, fast response, robustness against external disturbances and uncertainties, and suitable transient response [23,24,25]. These methods are not practical for all control input signals [29]. The robustness of the system against uncertainties and disturbances is increased
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