Abstract
The practical implementation of sliding mode controllers usually assumes knowledge of all system states. It also typically requires information (at least in terms of the boundaries) about the combined effect of drift terms, i.e., the internal and external disturbances of the system. In this chapter a feedback linearization-like technique is used for obtaining the input–output dynamics and reducing all disturbances to the matched ones. Then the sliding variables are introduced and their dynamics are derived. The higher-order sliding mode differentiator-based observer, which was discussed in Chap. 7, is used to the estimate system states, the derivatives of the sliding variables, as well as the drift terms. Therefore, in finite time, all information about the sliding variable dynamics becomes available. The estimated drift term is then used in the feedback loop to compensate the disturbances. The observed states are then used to design any (continuous) robust state-space controller while eliminating the chattering effect. Two case studies, launch vehicle and satellite formation control, illustrate the discussed robust control technique.
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Shtessel, Y., Edwards, C., Fridman, L., Levant, A. (2014). Disturbance Observer Based Control: Aerospace Applications. In: Sliding Mode Control and Observation. Control Engineering. Birkhäuser, New York, NY. https://doi.org/10.1007/978-0-8176-4893-0_8
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DOI: https://doi.org/10.1007/978-0-8176-4893-0_8
Publisher Name: Birkhäuser, New York, NY
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