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Technical Briefs

Model Following Sliding Mode Control Based on Uncertainty and Disturbance Estimator

[+] Author and Article Information
S. E. Talole

 Defence Institute of Advanced Technology, Girinagar, Pune, Maharashtra 411025, Indiasetalole@hotmail.com

S. B. Phadke

 Defence Institute of Advanced Technology, Girinagar, Pune, Maharashtra 411025, Indiasbphadke@hotmail.com

J. Dyn. Sys., Meas., Control 130(3), 034501 (Apr 24, 2008) (5 pages) doi:10.1115/1.2909604 History: Received January 11, 2005; Revised July 11, 2007; Published April 24, 2008

A new design of sliding mode control based on an uncertainty and disturbance estimator (UDE) is given. The control proposed does not require the knowledge of bounds of uncertainties and disturbances and is continuous. Thus, two main difficulties in the design of sliding mode control are overcome. Furthermore, the method of UDE is extended to plants having significant uncertainty in the control input matrix and subjected to disturbances that nonlinearly depend on states.

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Copyright © 2008 by American Society of Mechanical Engineers
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Figures

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Figure 1

Block diagram representation of Eq. 15

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Figure 2

Case 1—plots of the model following: (a) σ, (b) control input, (c) states of plant and model, (d) disturbance

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Figure 3

Case 2–increased uncertainty Δb=[0−0.8]T: (a) σ, (b)control input, (c) states of plant and model, (d) disturbance

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Figure 4

Case 3—a more rapidly changing disturbance: (a) σ, (b) control input, (c) states of plant and model, (d) disturbance

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Figure 5

Improvement of accuracy with second order filter

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