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首页> 外文会议>IEEE International Conference on Control, Measurement and Instrumentation >Disturbance observer based optimal second order sliding mode controller for nonlinear systems with mismatched uncertainty
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Disturbance observer based optimal second order sliding mode controller for nonlinear systems with mismatched uncertainty

机译：基于扰动观测器的非线性系统的最优二阶滑动模式控制器，非线性系统不匹配

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The paper aims to design an optimal second order sliding mode controller for the nonlinear system affected by mismatched uncertainties. Control Lyapunov function (CLF) based methodology is proposed to design an optimal controller for the known part of nonlinear system. The Lyapunov function and the performance index are chosen in such a way that the optimal controller should minimize the control effort. As the optimal controller is highly sensitive to the system uncertainty, a sliding mode controller is integrated with the optimal controller to tackle it. As the conventional sliding mode controller cannot tackle the mismatched disturbance, a disturbance observer is proposed to estimate the disturbance. But the first order sliding mode control is inapplicable to practical system due to the chattering. An optimal second order sliding mode controller proposed in this paper reduces the same. Simulation results ensure that the suggested controller is enable to reduce the control effort as well as chattering phenomenon.
机译：纸张旨在为受不反相不确定性影响的非线性系统设计最佳的二阶滑动模式控制器。基于控制Lyapunov函数（CLF）的方法，建议为非线性系统的已知部分设计最佳控制器。 Lyapunov函数和性能指数被选中，使得最佳控制器应最大限度地减少控制工作。随着最佳控制器对系统不确定性高度敏感，滑模控制器与最佳控制器集成在一起以解决它。由于传统的滑动模式控制器不能应对不匹配的干扰，提出了一种干扰观察者来估计干扰。但由于抖动，第一级滑动模式控制对于实用系统不适当。本文提出的最佳二阶滑动模式控制器减少了相同的。仿真结果确保建议的控制器可实现控制努力以及喋喋不休现象。

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