Disturbance-observer-based repetitive control with sliding modes

Y. S. Lu*, C. M. Cheng

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

7 Citations (Scopus)


This paper proposes a sliding repetitive control (SRC) scheme based on sliding disturbance observers (SDOB) for repetitive tracking control tasks. The three control strategies which are synthesized to yield excellent tracking performance are: 1) the pole-placement feedback control to specify desired error dynamics; 2) SDOB-based feedback compensation as the robust part; and 3) a learning feedforward component that gradually takes the place of the SDOB-based feedback compensation, and refines the control to improve system performance through repetitive trials. The SDOB-based feedback compensation ensures acceptably small tracking error during initial learning trials and enhances system insensitivity to exceptional and aperiodic disturbances. The learning compensation is updated according to a switching signal that is equivalent to the error of the feedforward compensation, yielding fast convergence of the learning process from trial to trial Because the switching actions to ensure global existence of a sliding mode take place in the controller instead of the plant, the proposed scheme thus alleviates the chatter problem often encountered in conventional sliding-mode controls.

Original languageEnglish
Number of pages6
Publication statusPublished - 2005
Externally publishedYes
EventProceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, United States
Duration: 2005 Jul 242005 Jul 28


OtherProceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
Country/TerritoryUnited States
CityMonterey, CA

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering


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