Composite disturbance-observer-based control and terminal sliding mode control for non-linear systems with disturbances

Abstract

A novel type of control scheme combining the disturbance-observer-based control (DOBC) with terminal sliding mode (TSM) control is proposed for a class of multiple-input–multiple-output (MIMO) continuous non-linear systems subject to disturbances. The disturbances are supposed to include two parts. One in the input channel is generated by an exogenous system with uncertainty, which can represent the harmonic signals with modelling perturbations. The other is supposed to have the bounded H ₂ norm. The disturbance observers based on regional pole placement and D-stability theory are presented, which can be constructed separately from the controller design. By integrating DOBC with TSM control laws, the disturbances can be rejected and attenuated, simultaneously, and the desired dynamic performances can be guaranteed for non-linear systems in finite time with known and unknown non-linear dynamics, respectively. Two simulation examples for a flight control system and a hard disk drive actuator are given respectively to demonstrate the effectiveness of the proposed control schemes compared with the previous schemes.

Keywords:

• disturbance-observer-based control
• terminal sliding mode control
• disturbance attenuation
• disturbance rejection
• non-linear systems

Acknowledgement

The work is supported by NSFC 60774013, 60774016; postdoctoral foundation of China 20070420957,0701005B.