Output Feedback Sliding Mode Control-A Robust Observer Approach for SISO Systems

回授輸出滑動模式控制－用於單輸入單輸出系統之強韌觀測器輔助設計

陳明新(Min-Shin Chen) ； 葉奕良(Yi-Liang Yeh) ； 顏家鈺(Jia-Yush Yen)

《中國機械工程學刊》 35卷4期 (2014/08) Pp. 265-271

摘要

本文提出一用於單輸入單輸出系統之回授輸出滑動模式控制設計。基於一可將系統不確定性對估測誤差影響壓制至任意小之強韌觀測器，此控制設計可有效對付外來擾動及參數誤差。如此，控制系統可追蹤任意參考輸出訊號，保障系統狀態為有限且使控制誤差為任意小。

並列摘要

This paper proposes an output feedback sliding mode control for an SISO system, which is subject to disturbances and parametric uncertainties. The proposed control is based on a robust observer which provides an arbitrarily small state estimation error in the face of system uncertainties. The controlled system output is able to track the reference output with arbitrarily small control accuracy, and to maintain boundedness of the system state.

並列關鍵字

sliding mode control ； output feedback control ； LTR observer ； robust observer ； state dependent uncertainty