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Full-order sliding mode control for high-order nonlinear system based on extended state observer

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Abstract

In this paper, a full-order sliding mode control based on extended state observer (FSMC+ ESO) is proposed for high-order nonlinear system with unknown system states and uncertainties. The extended state observer (ESO) is employed to estimate both the unknown system states and uncertainties so that the restriction that the system states should be completely measurable is relaxed, and a full-order sliding mode controller is designed based on the ESO estimation to overcome the chattering problem existing in ordinary reduced-order sliding mode control. Simulation results show that the proposed method facilitates the practical application with respect to good tracking performance and chattering elimination.

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Authors and Affiliations

  1. College of Information Engineering, Zhejiang University of Technology, Hangzhou, 310023, China

    Qiang Chen, Liang Tao & Yurong Nan

Authors
  1. Qiang Chen
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  2. Liang Tao
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  3. Yurong Nan
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Corresponding author

Correspondence to Qiang Chen.

Additional information

This research was supported by the National Natural Science Foundation of China under Grant No. 61403343, and the China Postdoctoral Science Foundation funded project under Grant No. 2015M580521.

This paper was recommended for publication by Editor SUN Jian.

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Chen, Q., Tao, L. & Nan, Y. Full-order sliding mode control for high-order nonlinear system based on extended state observer. J Syst Sci Complex 29, 978–990 (2016). https://doi.org/10.1007/s11424-016-5141-1

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  • DOI: https://doi.org/10.1007/s11424-016-5141-1

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