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A composite control method is proposed based on
adaptive terminal sliding mode control and
disturbance observer theory
for a class of high-order nonlinear dynamic systems.
In this control method, the disturbance observer is
introduced to estimate system
disturbance and the estimated value is used to
compensate sliding mode controllers outputs to
restrain the unknown uncertainty. For
controller output chattering case, an adaptive law
based on disturbance observer is designed. Under the
adaptive law, the controllers
switching gain can be adjusted automatically, which
can reduce the high frequency chattering of outputs.
The Lyapunov theory is
applied to prove the stability of the control method.
Finally, the simulation results of an example show
the feasibility and
effectiveness of the proposed approach.
adaptive terminal sliding mode control and
disturbance observer theory
for a class of high-order nonlinear dynamic systems.
In this control method, the disturbance observer is
introduced to estimate system
disturbance and the estimated value is used to
compensate sliding mode controllers outputs to
restrain the unknown uncertainty. For
controller output chattering case, an adaptive law
based on disturbance observer is designed. Under the
adaptive law, the controllers
switching gain can be adjusted automatically, which
can reduce the high frequency chattering of outputs.
The Lyapunov theory is
applied to prove the stability of the control method.
Finally, the simulation results of an example show
the feasibility and
effectiveness of the proposed approach.