Robust Controller Design Based on Sliding Mode Observer in The Presence of Uncertainties and Actuator Saturation

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BINAZADEH TAHEREH; BAHMANI MAJID

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Journal: Journal of Control Year:2019 | Volume:13 | Issue:2 Page(s): 23-32

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Title

Robust Controller Design Based on Sliding Mode Observer in The Presence of Uncertainties and Actuator Saturation

Author(s)

BINAZADEH TAHEREH | BAHMANI MAJID | Issue Writer Certificate

Keywords

Sliding mode observerQ1

actuator saturationQ1

robust controllerQ2

integral sliding modeQ1

composite nonlinear feedbackQ1

Abstract

This paper studies the design of a robust output feedback controller subject to actuator saturation. For this purpose, a robust high-gain Sliding mode observer is used to estimate the state variables. Moreover, the combination of composite nonlinear feedback (CNF) and integral sliding mode (ISM) controllers are used for robust output tracking. This controller consists of two parts, the CNF part which is taken into account to modify the transient responses and the ISM part which is implemented to reject the disturbances. The two important issues in this paper are: considering the actuator saturation and designing the robust observer-based control law. Moreover, a theorem is given and proved that guarantees even if the actuator saturation takes place, the closed-loop system is stable and the output asymptotically tracks the step reference input. Finally, in order to show the performance of the proposed controller, it is applied to the yaw control of a helicopter and the simulation results verify the theoretical results.

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APA: Copy

BINAZADEH, TAHEREH, & BAHMANI, MAJID. (2019). Robust Controller Design Based on Sliding Mode Observer in The Presence of Uncertainties and Actuator Saturation. JOURNAL OF CONTROL, 13(2 ), 23-32. SID. https://sid.ir/paper/120785/en

Vancouver: Copy

BINAZADEH TAHEREH, BAHMANI MAJID. Robust Controller Design Based on Sliding Mode Observer in The Presence of Uncertainties and Actuator Saturation. JOURNAL OF CONTROL[Internet]. 2019;13(2 ):23-32. Available from: https://sid.ir/paper/120785/en

IEEE: Copy

TAHEREH BINAZADEH, and MAJID BAHMANI, “Robust Controller Design Based on Sliding Mode Observer in The Presence of Uncertainties and Actuator Saturation,” JOURNAL OF CONTROL, vol. 13, no. 2 , pp. 23–32, 2019, [Online]. Available: https://sid.ir/paper/120785/en

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