Abstract
AbstractThis paper presents estimation of disturbance to create a compound disturbance observer based on sliding modes. Disturbance observer(DOB) and sliding mode control are both effective methods in motion control. However, DOB is confined to nonlinear disturbance while sliding mode control(SMC) is limited by chattering phenomenon. The proposed method uses sliding mode to compensate the dynamic nonlinear equivalent disturbance and the switching gain of sliding mode, which is designed by disturbance estimation error using fuzzy mapping. The method also helps to decrease chattering with the help of DOB. The validity of the proposals is confirmed by experiments.KeywordsFlight simulatorMotion ControlDisturbance observerSliding modeDisturbance estimate
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