In this paper, a state and extended disturbance observer (DO) is designed for mismatched uncertain systems. Apart from system states and disturbances, the proposed observer estimates the derivatives of the disturbances and thereby improves the accuracy of estimation of disturbances as well as the states. No knowledge of bounds of disturbances or their derivatives is assumed. An observer–controller combination for a sliding mode controller that requires the estimates of the derivatives of disturbances is described, and the ultimate boundedness of the overall system is proved. The proposed observer is illustrated by simulation of a numerical example and a rotary hydraulic actuator. The proposed observer–controller combination is validated on a serial flexible joint manipulator in laboratory.
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July 2015
Technical Briefs
State and Extended Disturbance Observer for Sliding Mode Control of Mismatched Uncertain Systems
Divyesh Ginoya,
Divyesh Ginoya
Department of Instrumentation and Control,
e-mail: dlginoya007@gmail.com
College of Engineering Pune
,Pune 411 005
, India
e-mail: dlginoya007@gmail.com
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P. D. Shendge,
P. D. Shendge
Department of Instrumentation and Control,
e-mail: pds.instru@coep.ac.in
College of Engineering Pune
,Pune 411 005
, India
e-mail: pds.instru@coep.ac.in
Search for other works by this author on:
S. B. Phadke
S. B. Phadke
Department of Instrumentation and Control,
e-mail: sbp.instru@coep.ac.in
College of Engineering Pune
,Pune 411 005
, India
e-mail: sbp.instru@coep.ac.in
Search for other works by this author on:
Divyesh Ginoya
Department of Instrumentation and Control,
e-mail: dlginoya007@gmail.com
College of Engineering Pune
,Pune 411 005
, India
e-mail: dlginoya007@gmail.com
P. D. Shendge
Department of Instrumentation and Control,
e-mail: pds.instru@coep.ac.in
College of Engineering Pune
,Pune 411 005
, India
e-mail: pds.instru@coep.ac.in
S. B. Phadke
Department of Instrumentation and Control,
e-mail: sbp.instru@coep.ac.in
College of Engineering Pune
,Pune 411 005
, India
e-mail: sbp.instru@coep.ac.in
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received August 6, 2014; final manuscript received December 20, 2014; published online February 9, 2015. Assoc. Editor: Hashem Ashrafiuon.
J. Dyn. Sys., Meas., Control. Jul 2015, 137(7): 074502 (7 pages)
Published Online: July 1, 2015
Article history
Received:
August 6, 2014
Revision Received:
December 20, 2014
Online:
February 9, 2015
Citation
Ginoya, D., Shendge, P. D., and Phadke, S. B. (July 1, 2015). "State and Extended Disturbance Observer for Sliding Mode Control of Mismatched Uncertain Systems." ASME. J. Dyn. Sys., Meas., Control. July 2015; 137(7): 074502. https://doi.org/10.1115/1.4029568
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