Technical Notes and Correspondence
International Journal of Control, Automation and Systems 2011; 9(2): 402-409
Published online April 2, 2011
https://doi.org/10.1007/s12555-011-0224-1
© The International Journal of Control, Automation, and Systems
A Stability-Guaranteed Integral Sliding Disturbance Observer for Systems Suffering from Disturbances with Bounded First Time Derivatives
This paper presents an integral sliding disturbance observer (I-SDOB) to compensate for unknown disturbances for a class of nonlinear systems. To guarantee the existence of a sliding mode for disturbance estimation, the proposed I-SDOB needs only a small switching gain compared with conventional sliding disturbance observers, which leads to further alleviation of chatter. Moreover, the stability analysis of the controller-observer system is given based on the Lyapunov theory. Applica-tions of the proposed scheme to a two-link robotic manipulator have been conducted, and experimental results confirm the effectiveness of the proposed scheme.
Keywords Disturbance observer, servo systems, sliding mode, stability.
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Technical Notes and Correspondence
International Journal of Control, Automation and Systems 2011; 9(2): 402-409
Published online April 1, 2011 https://doi.org/10.1007/s12555-011-0224-1
Copyright © The International Journal of Control, Automation, and Systems.
A Stability-Guaranteed Integral Sliding Disturbance Observer for Systems Suffering from Disturbances with Bounded First Time Derivatives
Yu-Sheng Lu and Chien-Wei Chiu
National Taiwan Normal University, Taiwan
Abstract
This paper presents an integral sliding disturbance observer (I-SDOB) to compensate for unknown disturbances for a class of nonlinear systems. To guarantee the existence of a sliding mode for disturbance estimation, the proposed I-SDOB needs only a small switching gain compared with conventional sliding disturbance observers, which leads to further alleviation of chatter. Moreover, the stability analysis of the controller-observer system is given based on the Lyapunov theory. Applica-tions of the proposed scheme to a two-link robotic manipulator have been conducted, and experimental results confirm the effectiveness of the proposed scheme.
Keywords: Disturbance observer, servo systems, sliding mode, stability.
Vol. 23, No. 1, pp. 1~88
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