Observer-based terminal sliding mode control of non-affine nonlinear systems: Finite-time approach |
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Authors: | Qiang Zhang Cui Wang Xiaojie Su Dezhi Xu |
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Institution: | 1. School of Electrical Engineering, University of Jinan, Jinan 250000, China;2. College of Automation, Chongqing University, Chongqing 400044, China;3. Institute of Electrical Engineering and Intelligent Equipment, School of Internet of Things Engineering Jiangnan University, Wuxi 214122, China |
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Abstract: | This paper studies the problem of observer based fast nonsingular terminal sliding mode control schemes for nonlinear non-affine systems with actuator faults, unknown states, and external disturbances. A hyperbolic tangent function based extended state observer is considered to estimate unknown states, which enhances robustness by estimating external disturbance. Then, Taylor series expansion is employed for the non-affine nonlinear system with actuator faults, which transforms it to an affine form system to simplify disturbance observer and controller design. A finite time disturbance observer is designed to address unknown compound disturbances, which includes external disturbances and system uncertainties. A fast nonsingular terminal sliding mode with exponential function sliding mode is proposed to address output tracking. Simulation results show the proposed scheme is effective. |
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Keywords: | Corresponding author |
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