Abstract
In this paper, we propose the disturbance observer-based continuous finite-time sliding mode controller (DOBCSMC) for input-affine nonlinear systems in which additive matched and mismatched disturbances exist. The objective is to show the robustness and disturbance attenuation performance of the closed-loop system with the proposed DOBCSMC subjected to general classes of matched and mismatched disturbances. The proposed DOBCSMC consists of three main features: (i) the nonlinear finite-time disturbance observer to obtain a fast and accurate estimation of matched and mismatched disturbances, (ii) the nonlinear sliding surface to ensure high precision in the steady-state phase of the controlled output, and (iii) the continuous supertwisting algorithm to guarantee finite-time convergence of the controlled output and reduce the chattering under the effect of matched and mismatched disturbances. It should be noted that the existing approaches cannot handle time-varying mismatched disturbances and/or cannot guarantee faster finite-time stability of the controlled output. We prove that the closed-loop system with the DOBCSMC guarantees both finite-time reachability to the sliding surface and finite-time stability of the controlled output to the origin. Various simulations are performed to demonstrate the effectiveness of the proposed DOBCSMC. In particular, the simulation results show that the DOBCSMC guarantees faster convergence of the closed-loop system to the origin, higher precision of the controlled output, and better robustness performance against various classes of (time-varying) matched and mismatched disturbances, compared with the existing approaches.
Highlights
Sliding mode control (SMC) is a well-known robust control method owing to its attractive features such as quick transient response, fine robustness against disturbances and parameter uncertainties, and ease of implementation [1,2,3,4,5]
We propose the disturbance observer-based continuous finite-time sliding mode controller (DOBCSMC) for input-affine nonlinear systems in which additive matched and mismatched disturbances exist. e main objective is to show the robustness and disturbance attenuation performance of the closed-loop system with the proposed DOBCSMC subjected to general classes of matched and mismatched disturbances. e proposed DOBCSMC consists of three main features: (i) e nonlinear finite-time disturbance observer to obtain a fast and accurate estimation of matched and mismatched disturbances
(ii) All aforementioned problems motivate us to study the problem in this paper, where we propose the disturbance observer-based continuous finite-time sliding mode controller (DOBCSMC)
Summary
Sliding mode control (SMC) is a well-known robust control method owing to its attractive features such as quick transient response, fine robustness against disturbances and parameter uncertainties, and ease of implementation [1,2,3,4,5]. Note that the aforementioned SMC approaches cannot handle a general class of time-varying mismatched disturbances and/or cannot guarantee faster finite-time stability of the controlled output. Unlike the existing approaches, our proposed method can be applied to a system that has both timevarying matched and mismatched disturbances, which guarantees faster finite-time stability of the controlled output. We propose the disturbance observer-based continuous finite-time sliding mode controller (DOBCSMC) for input-affine nonlinear systems in which additive matched and mismatched disturbances exist. The simulation results show that the DOBCSMC guarantees faster convergence of the closedloop system to the origin, higher precision of the controlled output, and better robustness performance against various classes of (time-varying) matched and mismatched disturbances, compared with the existing approaches.
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