Cascade Sliding Mode Control of Four-sided Clamped Plate Based on Extended State Observer

Abstract

A cascade sliding mode control (CSMC) strategy based on an extended state observer (ESO) is proposed to solve the problems of model uncertainty and strong external disturbance of an all-clamped plate based on an inertial actuator in this paper. Firstly, the mathematical model of the system structure is established. Secondly, the internal uncertainty and external disturbance of the system are defined as the total disturbance, and the corresponding extended state observer is established to estimate the total disturbance of the system. Then, the cascade sliding mode is designed in combination with the extended state observer. The whole controller uses the estimated value of the disturbance to compensate the influence of the disturbances, and realizes the suppression of the structural vibration. Finally, the proposed control strategy is proved to have satisfactory robustness and vibration suppression performance by real time hardware-in-the-loop experiments.