A stability-guaranteed integral sliding disturbance observer for systems suffering from disturbances with bounded first time derivatives

Yu-Shen Lu, Chien Wei Chiu

Research output: Contribution to journalArticle

24 Citations (Scopus)

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. Applications of the proposed scheme to a two-link robotic manipulator have been conducted, and experimental results confirm the effectiveness of the proposed scheme.

Original languageEnglish
Pages (from-to)402-409
Number of pages8
JournalInternational Journal of Control, Automation and Systems
Volume9
Issue number2
DOIs
Publication statusPublished - 2011 Apr 1

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Manipulators
Nonlinear systems
Robotics
Derivatives
Controllers

Keywords

  • Disturbance observer
  • Servo systems
  • Sliding mode
  • Stability

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications

Cite this

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AB - 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. Applications of the proposed scheme to a two-link robotic manipulator have been conducted, and experimental results confirm the effectiveness of the proposed scheme.

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KW - Stability

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