A novel output-feedback controller for uncertain single-input single-output (SISO) nonaffine nonlinear systems is proposed using high-order sliding mode (HOSM) observer, which is a robust exact finite-time convergent differentiator. The proposed controller utilizes (n + 1)th-order HOSM observer to cancel the uncertainty and disturbance where n is the relative degree of the controlled system. As a result, the control law has an extremely simple form of linear in the differentiator states. It is required no separate sliding-mode controller or universal approximators such as neural networks (NNs) or fuzzy logic systems (FLSs) that are adaptively tuned online. The proposed controller guarantees finite time stability of the output tracking error.
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December 2018
Technical Briefs
Approximation-Free Output-Feedback Control of Uncertain Nonlinear Systems Using Higher-Order Sliding Mode Observer
Jang-Hyun Park,
Jang-Hyun Park
Professor
Department of Electrical and Control Engineering,
Mokpo National University,
Cheonnam 58554, South Korea
e-mail: jhpark72@mokpo.ac.kr
Department of Electrical and Control Engineering,
Mokpo National University,
Cheonnam 58554, South Korea
e-mail: jhpark72@mokpo.ac.kr
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Seong-Hwan Kim,
Seong-Hwan Kim
Professor
Department of Electrical and Control Engineering,
Mokpo National University,
Cheonnam 58554, South Korea
e-mail: shkim@mokpo.ac.kr
Department of Electrical and Control Engineering,
Mokpo National University,
Cheonnam 58554, South Korea
e-mail: shkim@mokpo.ac.kr
Search for other works by this author on:
Tae-Sik Park
Tae-Sik Park
Associate Professor
Department of Electrical and Control Engineering,
Mokpo National University,
Cheonnam 58554, South Korea
e-mail: tspark@mokpo.ac.kr
Department of Electrical and Control Engineering,
Mokpo National University,
Cheonnam 58554, South Korea
e-mail: tspark@mokpo.ac.kr
Search for other works by this author on:
Jang-Hyun Park
Professor
Department of Electrical and Control Engineering,
Mokpo National University,
Cheonnam 58554, South Korea
e-mail: jhpark72@mokpo.ac.kr
Department of Electrical and Control Engineering,
Mokpo National University,
Cheonnam 58554, South Korea
e-mail: jhpark72@mokpo.ac.kr
Seong-Hwan Kim
Professor
Department of Electrical and Control Engineering,
Mokpo National University,
Cheonnam 58554, South Korea
e-mail: shkim@mokpo.ac.kr
Department of Electrical and Control Engineering,
Mokpo National University,
Cheonnam 58554, South Korea
e-mail: shkim@mokpo.ac.kr
Tae-Sik Park
Associate Professor
Department of Electrical and Control Engineering,
Mokpo National University,
Cheonnam 58554, South Korea
e-mail: tspark@mokpo.ac.kr
Department of Electrical and Control Engineering,
Mokpo National University,
Cheonnam 58554, South Korea
e-mail: tspark@mokpo.ac.kr
1Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received September 10, 2017; final manuscript received June 20, 2018; published online July 23, 2018. Assoc. Editor: Hashem Ashrafiuon.
J. Dyn. Sys., Meas., Control. Dec 2018, 140(12): 124502 (5 pages)
Published Online: July 23, 2018
Article history
Received:
September 10, 2017
Revised:
June 20, 2018
Citation
Park, J., Kim, S., and Park, T. (July 23, 2018). "Approximation-Free Output-Feedback Control of Uncertain Nonlinear Systems Using Higher-Order Sliding Mode Observer." ASME. J. Dyn. Sys., Meas., Control. December 2018; 140(12): 124502. https://doi.org/10.1115/1.4040664
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