Full-Order Sliding Mode Control for High-Order Nonlinear System Based on Extended State Observer
Full-Order Sliding Mode Control for High-Order Nonlinear System Based on Extended State Observer
复制标题
基于扩展状态观测器的高阶非线性系统全阶滑模控制
DOI：
10.1007/s11424-016-5141-1
复制
发表时间：
2016
影响因子：
2.1
通讯作者：
Nan Yurong
中科院分区：
文献类型：
--
作者：
Chen Qiang;Tao Liang;Nan Yurong
针对系统状态未知、不确定性的高阶非线性系统，提出一种基于扩展状态观测器（FSMC+ESO）的全阶滑模控制。采用扩展状态观测器(ESO)对未知系统状态和不确定性进行估计，放宽了系统状态完全可测的限制，并基于ESO估计设计了全阶滑模控制器，克服了普通降阶滑模控制中存在的抖振问题。仿真结果表明，该方法具有良好的跟踪性能和抖振消除能力，有利于实际应用。
In this paper, a full-order sliding mode control based on extended state observer (FSMC+ ESO) is proposed for high-order nonlinear system with unknown system states and uncertainties. The extended state observer (ESO) is employed to estimate both the unknown system states and uncertainties so that the restriction that the system states should be completely measurable is relaxed, and a full-order sliding mode controller is designed based on the ESO estimation to overcome the chattering problem existing in ordinary reduced-order sliding mode control. Simulation results show that the proposed method facilitates the practical application with respect to good tracking performance and chattering elimination.