Technical Brief

Approximation-Free Output-Feedback Control of Uncertain Nonlinear Systems Using Higher-Order Sliding Mode Observer

[+] Author and Article Information
Jang-Hyun Park

Department of Electrical and Control Engineering,
Mokpo National University,
Cheonnam 58554, South Korea
e-mail: jhpark72@mokpo.ac.kr

Seong-Hwan Kim

Department of Electrical and Control Engineering,
Mokpo National University,
Cheonnam 58554, South Korea
e-mail: shkim@mokpo.ac.kr

Tae-Sik Park

Associate Professor
Department of Electrical and Control Engineering,
Mokpo National University,
Cheonnam 58554, South Korea
e-mail: tspark@mokpo.ac.kr

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received September 10, 2017; final manuscript received June 20, 2018; published online July 23, 2018. Assoc. Editor: Hashem Ashrafiuon.

J. Dyn. Sys., Meas., Control 140(12), 124502 (Jul 23, 2018) (5 pages) Paper No: DS-17-1454; doi: 10.1115/1.4040664 History: Received September 10, 2017; Revised June 20, 2018

A novel output-feedback controller for uncertain single-input single-output (SISO) nonaffine nonlinear systems is proposed using high-order sliding mode (HOSM) observer, which is a robust exact finite-time convergent differentiator. The proposed controller utilizes (n + 1)th-order HOSM observer to cancel the uncertainty and disturbance where n is the relative degree of the controlled system. As a result, the control law has an extremely simple form of linear in the differentiator states. It is required no separate sliding-mode controller or universal approximators such as neural networks (NNs) or fuzzy logic systems (FLSs) that are adaptively tuned online. The proposed controller guarantees finite time stability of the output tracking error.

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Grahic Jump Location
Fig. 1

Block diagram of the overall control system

Grahic Jump Location
Fig. 2

Trajectories of (a) y and yd, (b) tracking error e1, and (c) control input u

Grahic Jump Location
Fig. 3

Trajectories of tracking errors for L = 10, 25, and 40

Grahic Jump Location
Fig. 4

Trajectories of control inputs for L = 10, 25, and 40

Grahic Jump Location
Fig. 5

Trajectories of (a) y and yd and (b) tracking error e1

Grahic Jump Location
Fig. 6

Simulation result using the controller in Ref. [9]: (a) y and yd, (b) tracking error, and (c) control input



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