A novel sliding mode assist disturbance observer

Dapeng Tian, Daisuke Yashiro, Kouhei Ohnishi

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

4 Citations (Scopus)

Abstract

This paper focuses on the problem of disturbance compensation in motion control. Disturbance observer (DOB) and sliding mode control (SMC) are both famous approaches to solve the problem. However, the DOB does not deal with nonlinear disturbance sufficiently. The SMC has chattering phenomenon which limits its application. In this paper, the idea of sliding mode assist disturbance observer (SMADO) is proposed, which avoids the shortness and associates the advantages of both SMC and DOB. In the proposal, the DOB helps the SMC to decrease the switching gain, which weakens the chattering. On the other hand, the SMC assists the DOB in compensating nonlinear disturbance. Based on the basic design, some improvements are also given. To weaken the chattering further, the smooth design is implemented. Moreover, to further systematize the idea of SMADO, the systematical adjustment method of the switching gain is investigated for the basic and smooth SMADO, respectively. The designs are proved by Lyapunov-based method. The validity of the proposals is confirmed by experiments.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
Pages943-948
Number of pages6
DOIs
Publication statusPublished - 2011 Sep 2
Event2011 IEEE International Conference on Mechatronics, ICM 2011 - Istanbul, Turkey
Duration: 2011 Apr 132011 Apr 15

Publication series

Name2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings

Other

Other2011 IEEE International Conference on Mechatronics, ICM 2011
CountryTurkey
CityIstanbul
Period11/4/1311/4/15

    Fingerprint

Keywords

  • assist
  • chattering
  • disturbance observer
  • model tracking
  • sliding mode

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Tian, D., Yashiro, D., & Ohnishi, K. (2011). A novel sliding mode assist disturbance observer. In 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings (pp. 943-948). [5971252] (2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings). https://doi.org/10.1109/ICMECH.2011.5971252