Disturbance/Uncertainty Estimator Based Integral Sliding-Mode Control

Burak Kürkçü; Coşku Kasnakoğlu; Mehmet Önder Efe

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Disturbance/Uncertainty Estimator Based Integral Sliding-Mode Control

机译：基于干扰/不确定度估计器的整体滑模控制

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摘要

A disturbance/uncertainty estimator based integral sliding-mode control approach is introduced. Explicit mathematical expressions for robust stability, performance, and bandwidth requirement are derived. The integral sliding-mode controller is built to satisfy certain industrial criteria. It is integrated into the robustness analysis via its quasi-linear representation. The proposed methodology is experimentally verified on a high-precision gimbal control application. It is seen that the estimator works well and significantly improves performance and robustness in the presence of disturbances and uncertainties.

机译：介绍了一种基于干扰/不确定性估计的整体滑模控制方法。得出了鲁棒的稳定性，性能和带宽要求的明确数学表达式。内置的滑模控制器可满足某些工业标准。通过其准线性表示将其集成到鲁棒性分析中。所提出的方法在高精度的云台控制应用中进行了实验验证。可以看出，在存在干扰和不确定性的情况下，估算器工作良好，并且可以显着提高性能和鲁棒性。

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来源
《Automatic Control, IEEE Transactions on》 |2018年第11期|3940-3947|共8页
作者
Burak Kürkçü; Coşku Kasnakoğlu; Mehmet Önder Efe;
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作者单位

ASELSAN Inc., Ankara, Turkey;

TOBB University of Economics and Technology, Ankara, Turkey;

Hacettepe University, Ankara, Turkey;

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原文格式 PDF
正文语种 eng
中图分类
关键词
Uncertainty; Bandwidth; Robustness; Sensitivity; Robust stability; Observers;

机译：不确定度;带宽;稳健性;灵敏度;稳健性;观察者;

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1. Distributed Finite-Time Integral Sliding-Mode Control for Multi-Agent Systems with Multiple Disturbances Based on Nonlinear Disturbance Observers [J] . YANG Yize, LIU Fan, YANG Hongyong, 系统科学与复杂性：英文版 . 2021,第003期

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2. Disturbance Observer-Based Integral Sliding-Mode Control for Systems With Mismatched Disturbances [J] . Jinhui Zhang, Xinwei Liu, Yuanqing Xia, IEEE Transactions on Industrial Electronics . 2016,第11期

机译：扰动不匹配的系统基于扰动观测器的整体滑模控制
3. Uncertainty and Disturbance Estimator-Based Backstepping Control for Nonlinear Systems With Mismatched Uncertainties and Disturbances [J] . Dai Jiguo, Ren Beibei, Zhong Qing-Chang Journal of Dynamic Systems, Measurement, and Control . 2018,第12期

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4. Robust control design based-on integral sliding-mode for systems with norm-bounded uncertainties [C] . Feng Chieh-Chuan, Lin Yung-Yeh 2011 11th International Conference on Control, Automation and Systems . 2011

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5. Power Control of Permanent Magnet Synchronous Generator-based Wind Energy Conversion Systems with Higher-Order Sliding-Mode Observer [D] . Slaby, Steven. 2018

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7. Adaptive Fuzzy Integral Sliding-Mode Control for Robust Fault-Tolerant Control of Robot Manipulators With Disturbance Observer [O] . Mien Van, Shuzhi Sam Ge 2021

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8. Adaptive Control of Linear Modal Systems Using Residual Mode Filters and a Simple Disturbance Estimator. [R] . Balas, M., Frost, S. 2012

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Disturbance/Uncertainty Estimator Based Integral Sliding-Mode Control

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