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Disturbance-observer Based Adaptive Control for Second-order Nonlinear Systems Using Chattering-free Reaching Law

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  • Control Theory and Applications
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Abstract

In this paper, an adaptive sliding mode control incorporating with a nonlinear disturbance observer is proposed for a class of second-order nonlinear systems with unknown parameters and matched lumped disturbance. A double hyperbolic reaching law with chattering-free characteristic is first constructed, and an adaptive sliding mode controller is designed to guarantee the satisfactory tracking performance and fast error convergence. The chattering problem is eliminated by means of the infinitely approaching equilibrium point instead of crossing it by employing two hyperbolic functions. In order to identify the unknown parameters accurately, an adaptive parametric update law is presented through constructing a set of auxiliary filtered variables. Then, a nonlinear disturbance observer is proposed to improve the tracking performance and compensate for the lumped disturbance including perturbations and uncertainties. The stability analysis is provided by the Lyapunov stability theory, and a numerical simulation on a mass-spring damper system is given to demonstrate the effectiveness of the proposed method.

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Author information

Authors and Affiliations

  1. College of Information Engineering, Zhejiang University of Technology, Hangzhou, Zhejiang, 310023, China

    Liang Tao, Qiang Chen & Yurong Nan

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  1. Liang Tao
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  2. Qiang Chen
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  3. Yurong Nan
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Corresponding author

Correspondence to Qiang Chen.

Additional information

Recommended by Associate Editor Hongyi Li under the direction of Editor Hamid Reza Karimi. This work was supported by the National Natural Science Foundation of China under Grant No. 61403343, and Zhejiang Provincial Natural Science Foundation under Grant No. LY17F030018.

Liang Tao received the B.Eng. degree in electronic information engineering from Anhui Agricultural University, Hefei, China, in 2011. He is currently pursuing a Ph.D. degree with the College of Information Engineering, Zhejiang University of Technology, Hangzhou, China. From 2011 to 2013, he was with Flextronics (Suzhou) Company Ltd., and Daxi Electronic Instrument (Kunshan) Company Ltd., as a Research and Development Assistant Engineer and an Electrical Design Engineer, respectively. His research interests include servo system control, sliding mode control, and parameter identification.

Qiang Chen received the B.S. degree in measurement and control technology and instrumentation from Hebei Agricultural University, Baoding, China, in 2006 and the Ph.D. degree in control science and engineering from Beijing Institute of Technology, Beijing, China, in 2012. He is currently an associate professor with the College of Information Engineering, Zhejiang University of Technology, Hangzhou, China. His research interests include neural networks, sliding mode control and adaptive learning control with applications to motion control systems.

Yurong Nan received the B.Eng. degree in industrial automation and the M.Eng. degree in electrical drive and automation from Tianjin University, Tianjin, China, in 1987 and 1990, respectively, and the Ph.D. degree in control theory and control engineering from Zhejiang University of Technology, Hangzhou, China, in 2008. He has worked with Zhejiang University of Technology since 1990. He is currently a Professor of the College of Information Engineering, Zhejiang University of Technology. His research interests include power electronics, electrical drive and automation and embedded systems.

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Tao, L., Chen, Q. & Nan, Y. Disturbance-observer Based Adaptive Control for Second-order Nonlinear Systems Using Chattering-free Reaching Law. Int. J. Control Autom. Syst. 17, 356–369 (2019). https://doi.org/10.1007/s12555-018-0277-5

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  • DOI: https://doi.org/10.1007/s12555-018-0277-5

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