Full-Order Sliding Mode Control for High-Order Nonlinear System Based on Extended State Observer

被引：15

作者：

Chen Qiang ^{[1
]}

Tao Liang ^{[1
]}

Nan Yurong ^{[1
]}

机构：

[1] Zhejiang Univ Technol, Coll Informat Engn, Hangzhou 310023, Zhejiang, Peoples R China

来源：

JOURNAL OF SYSTEMS SCIENCE & COMPLEXITY | 2016年 / 29卷 / 04期

基金：

中国国家自然科学基金; 中国博士后科学基金;

关键词：

Extended state observer; full-order sliding mode control; high-order nonlinear system; DISTURBANCE REJECTION;

D O I：

10.1007/s11424-016-5141-1

中图分类号：

O1 [数学];

学科分类号：

0701 ; 070101 ;

摘要：

In this paper, a full-order sliding mode control based on extended state observer (FSMC+ESO) is proposed for high-order nonlinear system with unknown system states and uncertainties. The extended state observer (ESO) is employed to estimate both the unknown system states and uncertainties so that the restriction that the system states should be completely measurable is relaxed, and a full-order sliding mode controller is designed based on the ESO estimation to overcome the chattering problem existing in ordinary reduced-order sliding mode control. Simulation results show that the proposed method facilitates the practical application with respect to good tracking performance and chattering elimination.

引用

页码：978 / 990

页数：13

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