Disturbance observer based time-varying sliding mode control for uncertain mechanical system  

作　　者：Binglong Cong Xiangdong Liu Zhen Chen 

机构地区：[1]School of Automation, Beijing Institute of Technology, Beijing 100081, P. R. China [2]Key Laboratory for Intelligent Control ＆ Decision on Complex Systems, Beijing Institute of Technology, Beijing 100081, P. R. China

出　　处：《Journal of Systems Engineering and Electronics》2012年第1期108-118,共11页系统工程与电子技术（英文版）

基　　金：supported by the National Natural Science Foundation of China (10872030);the Technology Innovation Programme of Beijing Institute of Technology (CX0428)

摘　　要：It is now well known that the time-varying sliding mode control （TVSMC） is characterized by its global robustness against matched model uncertainties and disturbances. The accurate tracking problem of the mechanical system in the presence of the parametric uncertainty and external disturbance is addressed in the TVSMC framework. Firstly, an exponential TVSMC algorithm is designed and the main features are analyzed. Especially, the control parameter is obtained by solving an optimal problem. Subsequently, the global chattering problem in TVSMC is considered. To reduce the static error resulting from the continuous TVSMC algorithm, a disturbance observer based time-varying sliding mode control （DOTVSMC） algorithm is presented. The detailed design principle and the stability of the closed-loop system under the composite controller are provided. Simulation results verify the effectiveness of the proposed algorithm.It is now well known that the time-varying sliding mode control （TVSMC） is characterized by its global robustness against matched model uncertainties and disturbances. The accurate tracking problem of the mechanical system in the presence of the parametric uncertainty and external disturbance is addressed in the TVSMC framework. Firstly, an exponential TVSMC algorithm is designed and the main features are analyzed. Especially, the control parameter is obtained by solving an optimal problem. Subsequently, the global chattering problem in TVSMC is considered. To reduce the static error resulting from the continuous TVSMC algorithm, a disturbance observer based time-varying sliding mode control （DOTVSMC） algorithm is presented. The detailed design principle and the stability of the closed-loop system under the composite controller are provided. Simulation results verify the effectiveness of the proposed algorithm.

关 键 词：mechanical system time-varying sliding mode control （TVSMC） global sliding phase global chattering disturbance observer. 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] TP273[自动化与计算机技术—计算机科学与技术]