TY - GEN
T1 - A nonlinear exact disturbance observer inspired by sliding mode techniques
AU - Chen, Xinkai
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/25
Y1 - 2014/9/25
N2 - Inspired by sliding mode techniques, a nonlinear exact disturbance observer is proposed. The disturbance and its derivatives up to the second order are assumed to be bounded. However, the bounds of the disturbance and its derivatives are unknown, and they are adaptively estimated online during the observation of the disturbances. The exact convergence of the disturbance observer to the genuine disturbance is assured theoretically. The convergence speed of the disturbance estimation error is controlled by design parameters. The proposed method is robust to the type of disturbance and is easy to be implemented. Computer simulation results show the superiority and effectiveness of the proposed formulation.
AB - Inspired by sliding mode techniques, a nonlinear exact disturbance observer is proposed. The disturbance and its derivatives up to the second order are assumed to be bounded. However, the bounds of the disturbance and its derivatives are unknown, and they are adaptively estimated online during the observation of the disturbances. The exact convergence of the disturbance observer to the genuine disturbance is assured theoretically. The convergence speed of the disturbance estimation error is controlled by design parameters. The proposed method is robust to the type of disturbance and is easy to be implemented. Computer simulation results show the superiority and effectiveness of the proposed formulation.
KW - Disturbance observer
KW - adaptive method
KW - sliding mode control
UR - http://www.scopus.com/inward/record.url?scp=84907906940&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84907906940&partnerID=8YFLogxK
U2 - 10.1109/ICAMechS.2014.6911647
DO - 10.1109/ICAMechS.2014.6911647
M3 - Conference contribution
AN - SCOPUS:84907906940
T3 - International Conference on Advanced Mechatronic Systems, ICAMechS
SP - 181
EP - 185
BT - 2014 International Conference on Advanced Mechatronic Systems, ICAMechS
PB - IEEE Computer Society
T2 - 2014 International Conference on Advanced Mechatronic Systems, ICAMechS 2014
Y2 - 10 August 2014 through 12 August 2014
ER -