Super twisting observer based full order sliding mode control

International Journal of Dynamics and Control (2021)Cite this article

Abstract

In this paper, a super twisting observer-based full order sliding mode control is proposed for a non-linear uncertain system. The super twisting observer estimates an \(n{-}\)th system state and the derivative of the \(n{-}\)th system state. It ensures finite convergence of estimation error to zero. The proposed method retains attractive features of full order sliding mode control like finite-time convergence of system states, continuous control, and the system’s full order dynamics when the system is in the sliding mode. The scheme is validated on a 2-DOF helicopter system laboratory setup, and the performance is compared with two well-known observers, i.e., a non-linear extended state observer and a sliding mode observer-based control using two-link manipulator example.

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Affiliations

  1. Dr. Babasaheb Ambedkar Marathwada University, Aurangabad, Maharashtra, India

    Ajay Borkar

  2. JSPM’S Jayawantrao Sawant College of Engineering, Sawant College of Engineering, Hadapsar, Pune, Maharashtra, India

    P. M. Patil

Authors
  1. Ajay Borkar
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  2. P. M. Patil
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Correspondence to Ajay Borkar.

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Borkar, A., Patil, P.M. Super twisting observer based full order sliding mode control. Int. J. Dynam. Control (2021). https://doi.org/10.1007/s40435-021-00757-9

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Keywords

  • Full order sliding mode control
  • Super twisting observer
  • Non-linear uncertain system