A nonlinear exact disturbance observer inspired by sliding mode techniques

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publication2014 International Conference on Advanced Mechatronic Systems, ICAMechS
PublisherIEEE Computer Society
Pages181-185
Number of pages5
ISBN (Electronic)9781479963812
DOIs
Publication statusPublished - 2014 Sep 25
Event2014 International Conference on Advanced Mechatronic Systems, ICAMechS 2014 - Kumamoto, Japan
Duration: 2014 Aug 102014 Aug 12

Publication series

NameInternational Conference on Advanced Mechatronic Systems, ICAMechS
ISSN (Print)2325-0682
ISSN (Electronic)2325-0690

Conference

Conference2014 International Conference on Advanced Mechatronic Systems, ICAMechS 2014
CountryJapan
CityKumamoto
Period14/8/1014/8/12

Keywords

  • Disturbance observer
  • adaptive method
  • sliding mode control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Chen, X. (2014). A nonlinear exact disturbance observer inspired by sliding mode techniques. In 2014 International Conference on Advanced Mechatronic Systems, ICAMechS (pp. 181-185). [6911647] (International Conference on Advanced Mechatronic Systems, ICAMechS). IEEE Computer Society. https://doi.org/10.1109/ICAMechS.2014.6911647