A Stability-Guaranteed Integral Sliding Disturbance Observer for Systems Suffering from Disturbances with Bounded First Time Derivatives

作者：Lu Yu Sheng^*; Chiu Chien Wei

来源：International Journal of Control Automation and Systems, 2011, 9(2): 402-409.

DOI：10.1007/s12555-011-0224-1

• Disturbance observer
• servo systems
• sliding mode
• stability

This paper presents an integral sliding disturbance observer (I-SDOB) to compensate for unknown disturbances for a class of nonlinear systems. To guarantee the existence of a sliding mode for disturbance estimation, the proposed I-SDOB needs only a small switching gain compared with conventional sliding disturbance observers, which leads to further alleviation of chatter. Moreover, the stability analysis of the controller-observer system is given based on the Lyapunov theory. Applications of the proposed scheme to a two-link robotic manipulator have been conducted, and experimental results confirm the effectiveness of the proposed scheme.

• 出版日期2011-4