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research-article

Robust output regulation via Sliding Mode Control and Disturbance observer: Application in a Forced Van Der Pol chaotic oscillator

[+] Author and Article Information
Fahime Shiravani

Department of Electrical and Electronic Engineering, Shiraz University of Technology, Modares Blvd., Shiraz, Iran
f.shiravani@sutech.ac.ir

Mohammad hossein Shafiei

Department of Electrical and Electronic Engineering, Shiraz University of Technology, Modares Blvd., Shiraz, Iran
shafiei@sutech.ac.ir

1Corresponding author.

ASME doi:10.1115/1.4036235 History: Received September 03, 2016; Revised February 18, 2017

Abstract

This paper considers the problem of robust output regulation of nonlinear systems in semi strict-feedback form in the presence of model uncertainties and non-vanishing disturbances. In the proposed procedure, two exosystems are considered to generate the disturbance and reference signals. In order to reduce both the conservatism of the control law and also the chattering phenomena, a Disturbance Observer is designed for disturbance estimation instead of assuming the known upper bound for the disturbance. Moreover, a novel sliding surface is designed based on the tracking error to guarantee that the output of the system tracks the output of the exosystem. In this regard, some theorems are given and according to the Lyapunov approach, it is proved that the robust output regulation is guaranteed in the presence of model uncertainties and external disturbances. Finally, in order to show the applicability of the proposed controller, it is applied to the Van der Pol chaotic oscillator. Computer simulations verify the theoretical results and also show the effective performance of the proposed controller.

Copyright (c) 2017 by ASME
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