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Oh, Hyondong
Autonomous Systems Laboratory
Research Interests
  • Autonomy and decision making for unmanned vehicles
  • Cooperative control and path planning for unmanned vehicles
  • Nonlinear guidance and control
  • Estimation and sensor/information fusion
  • Vision-based navigation and control
  • Bio-inspired self-organising multi-vehicle system

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Disturbance Observer-Based Continuous Finite-Time Sliding Mode Control against Matched and Mismatched Disturbances

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Title
Disturbance Observer-Based Continuous Finite-Time Sliding Mode Control against Matched and Mismatched Disturbances
Author
Nguyen, Ngo PhongOh, HyondongKim, YoonsooMoon, Jun
Issue Date
2020-05
Publisher
WILEY-HINDAWI
Citation
COMPLEXITY, v.2020, pp.2085752
Abstract
In this paper, we propose the disturbance observer-based continuous finite-time sliding mode controller (DOBCSMC) for input-affine nonlinear systems in which additive matched and mismatched disturbances exist. The objective is to show the robustness and disturbance attenuation performance of the closed-loop system with the proposed DOBCSMC subjected to general classes of matched and mismatched disturbances. The proposed DOBCSMC consists of three main features: (i) the nonlinear finite-time disturbance observer to obtain a fast and accurate estimation of matched and mismatched disturbances, (ii) the nonlinear sliding surface to ensure high precision in the steady-state phase of the controlled output, and (iii) the continuous supertwisting algorithm to guarantee finite-time convergence of the controlled output and reduce the chattering under the effect of matched and mismatched disturbances. It should be noted that the existing approaches cannot handle time-varying mismatched disturbances and/or cannot guarantee faster finite-time stability of the controlled output. We prove that the closed-loop system with the DOBCSMC guarantees both finite-time reachability to the sliding surface and finite-time stability of the controlled output to the origin. Various simulations are performed to demonstrate the effectiveness of the proposed DOBCSMC. In particular, the simulation results show that the DOBCSMC guarantees faster convergence of the closed-loop system to the origin, higher precision of the controlled output, and better robustness performance against various classes of (time-varying) matched and mismatched disturbances, compared with the existing approaches.
URI
https://scholarworks.unist.ac.kr/handle/201301/33008
URL
https://www.hindawi.com/journals/complexity/2020/2085752/
DOI
10.1155/2020/2085752
ISSN
1076-2787
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