Sliding Mode Controller with Generalized Extended State Observer for Single Link Flexible Manipulator

被引：4

作者：

Bhaskarwar, Tushar ^{[1
]}

Hawari, Huzein Fahmi ^{[2
]}

Nor, Nursyarizal B. M. ^{[2
]}

Chile, Rajan Hari ^{[1
]}

Waghmare, Dhammaratna ^{[3
]}

Aole, Sumit ^{[1
]}

机构：

[1] Shri Guru Gobind Singhji Inst Engn & Technol, Dept Instrumentat Engn, Nanded 431606, India

[2] Univ Teknol Petronas, Dept Elect & Elect Engn, Seri Iskandar 32610, Perak, Malaysia

[3] Dept Res & Dev Punch Powertrain, Model Based Design, Pune 410506, Maharashtra, India

来源：

APPLIED SCIENCES-BASEL | 2022年 / 12卷 / 06期

关键词：

generalized extended state observer (GESO); mismatched system; sliding mode controller; non-integral chain form; real time experimentation; DISTURBANCE-REJECTION; MISMATCHED UNCERTAINTIES; PHOTOVOLTAIC SYSTEM; TRACKING CONTROL;

D O I：

10.3390/app12063079

中图分类号：

O6 [化学];

学科分类号：

0703 ;

摘要：

This paper presents an enhanced generalized extended state observer (EGESO) based sliding mode control (SMC) technique for dealing with the disturbance attenuation problem for a class of non-integral chain systems with mismatched uncertainty. In the proposed control law, the robust SMC with reaching phase elimination is applied in the proposed control law, which uses the estimated states of a system. The stability analysis is thoroughly examined for both EGESO and SMC. The efficacy of the proposed controller is verified using specific examples, and later it is applied on a single-link flexible manipulator. Through simulation and experimentation analysis, it is observed that the proposed controller is giving a robust transient response as compared to existing GESO based controllers.

引用

页数：20

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