Extended state observer–based sliding mode learning control for mechanical system

Extended state observer–based sliding mode learning control for mechanical system

A novel sliding mode learning controller is proposed for uncertain mechanical system in this paper. The model of uncertain mechanical system is listed first, and then extended state observer is designed for the estimation of the uncertainty. Then, an extended state observer–based sliding surface is...

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Main Authors: Bing He, Gang Liu, Hailong Chen, Xiaoxiang Hu
Format: Article
Language:English
Published: SAGE Publishing 2020-08-01
Series:Measurement + Control
Online Access:https://doi.org/10.1177/0020294020927424
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spelling doaj-d36b3a8ae9b448d9bf731d624a9287aa2020-11-25T04:03:22ZengSAGE PublishingMeasurement + Control0020-29402020-08-015310.1177/0020294020927424Extended state observer–based sliding mode learning control for mechanical systemBing He0Gang Liu1Hailong Chen2Xiaoxiang Hu3Xi’an Research Institute of High-Tech, Xi’an, P.R. ChinaXi’an Research Institute of High-Tech, Xi’an, P.R. ChinaScience and Technology on Test Physics & Numerical Mathematic Laboratory, Beijing, P.R. ChinaSchool of Automation, Northwestern Polytechnical University, Xi’an, P.R. ChinaA novel sliding mode learning controller is proposed for uncertain mechanical system in this paper. The model of uncertain mechanical system is listed first, and then extended state observer is designed for the estimation of the uncertainty. Then, an extended state observer–based sliding surface is constructed. The sliding surface parameters are solved by Lyapunov function approach. Then, a sliding mode learning controller is proposed for uncertain mechanical system to overcome the inherent chattering. Finally, a numerical simulation is given to show the effectiveness of the proposed sliding mode learning controller.https://doi.org/10.1177/0020294020927424
collection DOAJ
language English
format Article
sources DOAJ
author Bing He
Gang Liu
Hailong Chen
Xiaoxiang Hu
spellingShingle Bing He
Gang Liu
Hailong Chen
Xiaoxiang Hu
Extended state observer–based sliding mode learning control for mechanical system
Measurement + Control
author_facet Bing He
Gang Liu
Hailong Chen
Xiaoxiang Hu
author_sort Bing He
title Extended state observer–based sliding mode learning control for mechanical system
title_short Extended state observer–based sliding mode learning control for mechanical system
title_full Extended state observer–based sliding mode learning control for mechanical system
title_fullStr Extended state observer–based sliding mode learning control for mechanical system
title_full_unstemmed Extended state observer–based sliding mode learning control for mechanical system
title_sort extended state observer–based sliding mode learning control for mechanical system
publisher SAGE Publishing
series Measurement + Control
issn 0020-2940
publishDate 2020-08-01
description A novel sliding mode learning controller is proposed for uncertain mechanical system in this paper. The model of uncertain mechanical system is listed first, and then extended state observer is designed for the estimation of the uncertainty. Then, an extended state observer–based sliding surface is constructed. The sliding surface parameters are solved by Lyapunov function approach. Then, a sliding mode learning controller is proposed for uncertain mechanical system to overcome the inherent chattering. Finally, a numerical simulation is given to show the effectiveness of the proposed sliding mode learning controller.
url https://doi.org/10.1177/0020294020927424
work_keys_str_mv AT binghe extendedstateobserverbasedslidingmodelearningcontrolformechanicalsystem
AT gangliu extendedstateobserverbasedslidingmodelearningcontrolformechanicalsystem
AT hailongchen extendedstateobserverbasedslidingmodelearningcontrolformechanicalsystem
AT xiaoxianghu extendedstateobserverbasedslidingmodelearningcontrolformechanicalsystem
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