摘要
In this paper, a full-order sliding mode control based on extended state observer(FSMC+ESO) is proposed for high-order nonlinear system with unknown system states and uncertainties.The extended state observer(ESO) is employed to estimate both the unknown system states and uncertainties so that the restriction that the system states should be completely measurable is relaxed,and a full-order sliding mode controller is designed based on the ESO estimation to overcome the chattering problem existing in ordinary reduced-order sliding mode control. Simulation results show that the proposed method facilitates the practical application with respect to good tracking performance and chattering elimination.
In this paper, a full-order sliding mode control based on extended state observer （FSMC＋ ESO） is proposed for high-order nonlinear system with unknown system states and uncertainties. The extended state observer （ESO） is employed to estimate both the unknown system states and uncertainties so that the restriction that the system states should be completely measurable is relaxed, and a full-order sliding mode controller is designed based on the ESO estimation to overcome the chattering problem existing in ordinary reduced-order sliding mode control. Simulation results show that the proposed method facilitates the practical application with respect to good tracking performance and chattering elimination.
基金
supported by the National Natural Science Foundation of China under Grant No.61403343
the China Postdoctoral Science Foundation funded project under Grant No.2015M580521
