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Coupled disturbance reconstruction by sliding mode observer approach for nonlinear system

Yiyong Sun, Jinyong Yu*, Zhan Li and Yu Liu
International Journal of Control, Automation, and Systems, vol. 15, no. 5, pp.2292-2300, 2017

Abstract : "This paper concentrates on the estimation of system states and the reconstruction of disturbances in a class of nonlinear systems considering stateless situation. The disturbances are coupled with time-varying parameters. The sliding mode observer approach is utilized to solve these two issues. Firstly, a descriptor model is presented by transforming the coupled disturbances into the decoupled form. Secondly, the sliding mode observer is designed to estimate the decoupled disturbances and system states of nonlinear systems. The coupled disturbance can be reconstructed hereafter. The detailed methods of designing the observer, together with the sufficient condition to guarantee the existence of the observer are also given. Finally, a simulation and a robot manipulator experiment are provided to examine the validity of the proposed design approach."

Keyword : Descriptor augment, disturbance reconstruction, nonlinear system, sliding mode observer.

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