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Sliding mode control with an extended disturbance observer for a class of underactuated system in cascaded form

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Abstract

A sliding mode controller based on an extended disturbance observer is investigated to control a class of underactuated system in this paper. By using strict feedback technique, the underactuated system is presented as a special cascade form. First, an extended disturbance observer is designed to estimate the unknown external disturbances and model uncertainties of the underactuated system. Furthermore, a sliding mode control strategy is proposed to stabilize the underactuated part directly and drive the variables to the sliding mode surface. Finally, combining the sliding mode controller with the extended disturbance observer, a sliding mode controller with disturbance observer is designed. The stability of the overall system is proved and a numerical example is presented to illustrate the effectiveness of the proposed disturbance observer and controller.

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Acknowledgements

This work is supported by National Natural Science Foundation of China under Grants 61530418 and 61473130. This work is also supported by Fundamental Research Funds for the Central Universities under Grant CZQ15015.

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Authors and Affiliations

  1. School of Computer Science, South-Central University for Nationalities, Wuhan, Hubei, People’s Republic of China

    Feng Ding, Junmin Zhang & Shunfan He

  2. School of Automation, Huazhong University of Science and Technology, Wuhan, Hubei, People’s Republic of China

    Jian Huang & Yongji Wang

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  1. Feng Ding
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  2. Jian Huang
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  3. Yongji Wang
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  4. Junmin Zhang
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  5. Shunfan He
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Correspondence to Jian Huang.

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Ding, F., Huang, J., Wang, Y. et al. Sliding mode control with an extended disturbance observer for a class of underactuated system in cascaded form. Nonlinear Dyn 90, 2571–2582 (2017). https://doi.org/10.1007/s11071-017-3824-3

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  • DOI: https://doi.org/10.1007/s11071-017-3824-3

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