Open AccessPrediction‐based sliding mode control of non‐linear systems with input delay using disturbance observer
Author(s) -
Moosapour Seyed Hamze,
Ataei Mohammad,
Ekramian Mohsen
Publication year - 2019
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2018.5706
Subject(s) - control theory (sociology) , disturbance (geology) , observer (physics) , sliding mode control , mode (computer interface) , state observer , computer science , control engineering , control (management) , engineering , nonlinear system , artificial intelligence , physics , paleontology , biology , quantum mechanics , operating system
In this study, stabilisation of input‐delay non‐linear systems in the presence of disturbance based on prediction variable is studied. For both disturbance estimation and delay compensation, an extended prediction variable as well as adaptive sliding mode controller are proposed in which the open‐loop system is not required to be stable. In the proposed prediction variable one needs to estimate disturbance in the future. In order to solve this problem a new non‐linear disturbance observer (NDOB) is proposed. Considering the NDOB in the closed‐loop system, the stability analysis of error dynamic is performed. And the asymptotic stability of non‐linear system with input delay is guaranteed for some class of disturbance. Simulation results finally validate the good performance and robustness of the proposed controller based on disturbance observer.