Nonlinear Disturbance Observer based Sliding Mode Control for a Class of Uncertain Nonaffine Nonlinear Systems

DOI

10.2991/iiicec-15.2015.142How to use a DOI?

Keywords

Nonaffine Nonlinear Systems; Nonlinear Disturbance Observer; Sliding Mode Control; Taylor Expansion;

Abstract

In this paper, the sliding mode tracking control is proposed for a class of uncertain non-affine nonlinear systems via the nonlinear disturbance observer(NDOB). Based on the Taylor expansion method, the affine system is approximated to facilitate the desired control design. Then, the NDOB is adopted to estimate the unknown disturbance. Subsequently, based on approximated affine nonlinear model and the NDOB, the sliding mode tracking control is proposed for non-affine nonlinear systems with uncertainty. The control scheme can guarantee semi-global uniform boundedness of the closed-loop system signals as proved by Lyapunov analysis. Numerical simulation results are presented to illustrate the effectiveness of the proposed sliding mode tracking control scheme.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Zhongjuan Li
AU  - Lingling Yang
PY  - 2015/03
DA  - 2015/03
TI  - Nonlinear Disturbance Observer based Sliding Mode Control for a Class of Uncertain Nonaffine Nonlinear Systems
BT  - Proceedings of the 2015 International Industrial Informatics and Computer Engineering Conference
PB  - Atlantis Press
SP  - 623
EP  - 627
SN  - 2352-538X
UR  - https://doi.org/10.2991/iiicec-15.2015.142
DO  - 10.2991/iiicec-15.2015.142
ID  - Li2015/03
ER  -