Research Article

Sliding mode control for a class of uncertain nonlinear system based on disturbance observer

  1. Mou Chen1,*,
  2. Wen-Hua Chen2

Article first published online: 26 MAR 2009

DOI: 10.1002/acs.1110

Issue

International Journal of Adaptive Control and Signal Processing

International Journal of Adaptive Control and Signal Processing

Volume 24, Issue 1, pages 51–64, January 2010

Additional Information

How to Cite

Chen, M. and Chen, W.-H. (2010), Sliding mode control for a class of uncertain nonlinear system based on disturbance observer. Int. J. Adapt. Control Signal Process., 24: 51–64. doi: 10.1002/acs.1110

Author Information

  1. 1

    Automation College, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

  2. 2

    Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough, Leicestershire LE11 3TU, U.K.

*Automation College, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Publication History

  1. Issue published online: 21 DEC 2009
  2. Article first published online: 26 MAR 2009
  3. Manuscript Accepted: 16 DEC 2008
  4. Manuscript Revised: 18 NOV 2008
  5. Manuscript Received: 13 FEB 2008

Funded by

  • Jiangsu Natural Science Function. Grant Number: SBK2008390
  • Aeronautical Science Foundation of China. Grant Number: 20075152014

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Keywords:

  • uncertain nonlinear system;
  • disturbance observer;
  • sliding mode control;
  • adaptive control;
  • Lyapunov method

Abstract

In this paper, a sliding mode control (SMC) scheme is proposed for a class of nonlinear systems based on disturbance observers. For a nonlinear system, the disturbance that cannot be directly measured is estimated using a nonlinear disturbance observer. By choosing an appropriate nonlinear gain function, the disturbance observer can well approximate the unknown disturbance. Based on the output of the disturbance observer, an SMC scheme is presented for the nonlinear system, and the stability of the closed-loop system is established using Lyapunov method. Finally, two simulation examples are presented to illustrate the features and the effectiveness of the proposed disturbance-observer-based SMC scheme. Copyright © 2009 John Wiley & Sons, Ltd.

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