A nonlinear exact disturbance observer inspired by sliding mode techniques

Xinkai Chen

doi:10.1109/ICAMechS.2014.6911647

A nonlinear exact disturbance observer inspired by sliding mode techniques

Xinkai Chen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

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 language	English
Title of host publication	2014 International Conference on Advanced Mechatronic Systems, ICAMechS
Publisher	IEEE Computer Society
Pages	181-185
Number of pages	5
ISBN (Electronic)	9781479963812
DOIs	https://doi.org/10.1109/ICAMechS.2014.6911647
Publication status	Published - 2014 Sept 25
Event	2014 International Conference on Advanced Mechatronic Systems, ICAMechS 2014 - Kumamoto, Japan Duration: 2014 Aug 10 → 2014 Aug 12

Publication series

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

Conference

Conference	2014 International Conference on Advanced Mechatronic Systems, ICAMechS 2014
Country/Territory	Japan
City	Kumamoto
Period	14/8/10 → 14/8/12

Keywords

Disturbance observer
adaptive method
sliding mode control

ASJC Scopus subject areas

Electrical and Electronic Engineering
Mechanical Engineering

Access to Document

10.1109/ICAMechS.2014.6911647

Cite this

A nonlinear exact disturbance observer inspired by sliding mode techniques. / Chen, Xinkai.

2014 International Conference on Advanced Mechatronic Systems, ICAMechS. IEEE Computer Society, 2014. p. 181-185 6911647 (International Conference on Advanced Mechatronic Systems, ICAMechS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Chen, X 2014, A nonlinear exact disturbance observer inspired by sliding mode techniques. in 2014 International Conference on Advanced Mechatronic Systems, ICAMechS., 6911647, International Conference on Advanced Mechatronic Systems, ICAMechS, IEEE Computer Society, pp. 181-185, 2014 International Conference on Advanced Mechatronic Systems, ICAMechS 2014, Kumamoto, Japan, 14/8/10. https://doi.org/10.1109/ICAMechS.2014.6911647

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A nonlinear exact disturbance observer inspired by sliding mode techniques

Abstract

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Conference

Keywords

ASJC Scopus subject areas

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