Improved Sliding Mode Nonlinear Extended State Observer based Active Disturbance Rejection Control for Uncertain Systems with Unknown Total Disturbance
Journal Title: International Journal of Advanced Computer Science & Applications - Year 2016, Vol 7, Issue 12
Abstract
This paper presents a new strategy for the active disturbance rejection control (ADRC) of a general uncertain system with unknown bounded disturbance based on a nonlinear sliding mode extended state observer (SMESO). Firstly, a nonlinear extended state observer is synthesized using sliding mode technique for a general uncertain system assuming asymptotic stability. Then the convergence characteristics of the estimation error are analyzed by Lyapunov strategy. It revealed that the proposed SMESO is asymptotically stable and accurately estimates the states of the system in addition to estimating the total disturbance. Then, an ADRC is implemented by using a nonlinear state error feedback (NLSEF) controller; that is suggested by J. Han and the proposed SMESO to control and actively reject the total disturbance of a permanent magnet DC (PMDC) motor. These disturbances caused by the unknown exogenous disturbances and the matched uncertainties of the controlled model. The proposed SMESO is compared with the linear extended state observer (LESO). Through digital simulations using MATLAB / SIMULINK, the chattering phenomenon has been reduced dramatically on the control input channel compared to LESO. Finally, the closed-loop system exhibits a high immunity to torque disturbance and quite robustness to matched uncertainties in the system.
Authors and Affiliations
Wameedh Riyadh Abdul-Adheem, Ibraheem Kasim Ibraheem
Keywords
Related Articles
- EP ID EP397287
- DOI 10.14569/IJACSA.2016.071211
- Views 94
- Downloads 0
A High-Performing Similarity Measure for Categorical Dataset with SF-Tree Clustering Algorithm
Tasks such as clustering and classification assume the existence of a similarity measure to assess the similarity (or dissimilarity) of a pair of observations or clusters. The key difference between most clustering metho...
The Development Process of the Semantic Web and Web Ontology
This paper deals with the semantic web and web ontology. The existing ontology development processes are not catered towards casual web ontology development, a notion analogous to standard web page development. Ontologie...
A Simulation Model for Nakagmi-m Fading Channel with m>1
In this paper, we propose a model to simulate a wireless fading channel based on Nakagami-m distribution with m>1. The Nakagami-m fading channel is the most generalized distribution as it can generate one-sided Gaussi...
Implementation of Multi-Agent based Digital Rights Management System for Distance Education (DRMSDE) using JADE
The main objective of Distance Education (DE) is to spread quality education regardless of time and space. This objective is easily achieved with the help of technology. With the development of World Wide Web and high-s...
Effect of Driver Strength on Crosstalk in Global Interconnects
The Noise estimation and avoidance are becoming critical, in today’s high performance IC design. An accurate yet efficient crosstalk noise model which contains as many driver/interconnect parameters as possible, is neces...