Disturbance/Uncertainty Estimator Based Integral Sliding-Mode Control


Kurkcu B., Kasnakoğlu C., Efe M. Ö.

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, vol.63, no.11, pp.3940-3947, 2018 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 63 Issue: 11
  • Publication Date: 2018
  • Doi Number: 10.1109/tac.2018.2808440
  • Journal Name: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED)
  • Page Numbers: pp.3940-3947
  • Keywords: Disturbance/uncertainty estimator (D/UE), gimbal control, integral sliding mode, robust stability (RS)/performance, MISMATCHED UNCERTAIN SYSTEMS, DISTURBANCE OBSERVER, SURFACE, DESIGN
  • Hacettepe University Affiliated: Yes

Abstract

A disturbance/uncertainty estimator based integral sliding-mode control approach is introduced. Explicit mathematical expressions for robust stability, performance, and bandwidth requirement are derived. The integral sliding-mode controller is built to satisfy certain industrial criteria. It is integrated into the robustness analysis via its quasi-linear representation. The proposed methodology is experimentally verified on a high-precision gimbal control application. It is seen that the estimator works well and significantly improves performance and robustness in the presence of disturbances and uncertainties.