Abstract
This paper concentrates on the estimation of system states and the reconstruction of disturbances in a class of nonlinear systems considering stateless situation. The disturbances are coupled with time-varying parameters. The sliding mode observer approach is utilized to solve these two issues. Firstly, a descriptor model is presented by transforming the coupled disturbances into the decoupled form. Secondly, the sliding mode observer is designed to estimate the decoupled disturbances and system states of nonlinear systems. The coupled disturbance can be reconstructed hereafter. The detailed methods of designing the observer, together with the sufficient condition to guarantee the existence of the observer are also given. Finally, a simulation and a robot manipulator experiment are provided to examine the validity of the proposed design approach.
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Recommended by Associate Editor Yang Tang under the direction of Editor Hamid Reza Karimi. This work was partially supported by the National Natural Science Foundation of China (61673133) and China Scholarship Council (CSC).
Yiyong Sun received the M.S. degree in Control Science and Control Engineering from Harbin Institute of Technology, Harbin, China, 2013, and the B.S. degree in Electronic Information and Engineering from Hebei Normal University, Shijiazhuang, China, 2011. He is now a Ph.D candidate with the Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China. Since 2015, he works as a joint Ph.D candidate in the Chair of Automatic Control Engineering (LSR), Technische Universität München, 80333 München, Germany. His research interests include sliding mode control, nonlinear system, robotics, fault tolerant control, fault estimation, intelligent control and their engineering applications.
Jinyong Yu was born in Heilongjiang Province, China, 1977. He received the B.S. degree in Automation from Harbin University of Science and Technology, Harbin, China, in 1998, and the M.S. and Ph.D. degrees in Control Science and Engineering from Harbin Institute of Technology, Harbin, China, in 2001 and 2010, respectively. He is currently an associate professor with Research Institute of Intelligent control and systems in Harbin Institute of Technology, Harbin, China. His research interests include automobile electrical control and fault diagnosis.
Zhan Li received his Ph.D. degree in control science and engineering from Harbin Institute of Technology, Harbin, China, in 2015. He received his B.Sc. degree in automation, and the M.Sc. degree in pattern recognition and intelligent system, from Harbin Engineering University, Harbin, China, in 2008 and 2011, respectively. From 2013 to 2014, he was visiting University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, Canada. He is currently a lecturer at the School of Astronautics, Harbin Institute of Technology. His research interests include motion control, industrial robot control, robust control of small UAVs, and cooperative control of multi-vehicle systems.
Yu liu received his B.S., M.S. and Ph.D. degrees, in 1999. 7, 2001. 7 and 2006. 7, respectively in Control Science and Control Engineering, Harbin Institute of Technology, Harbin, China. He is now an associate professor with Research Institute of Intelligent control and systems in Harbin Institute of Technology, Harbin 150001, China.
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Sun, Y., Yu, J., Li, Z. et al. Coupled disturbance reconstruction by sliding mode observer approach for nonlinear system. Int. J. Control Autom. Syst. 15, 2292–2300 (2017). https://doi.org/10.1007/s12555-016-0575-8
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DOI: https://doi.org/10.1007/s12555-016-0575-8