Journal
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
Volume 355, Issue 16, Pages 7985-8004Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.jfranklin.2018.08.018
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Funding
- National Natural Science Foundation of China [61503156, 61403161]
- Fundamental Research Funds for the Central Universities [JUSRP11562, JUSRP51406A, NJ20150011]
- National Key Research and Development Program [2016YFD0400301]
- Key Research and Development Plan of Shandong Province of China [2017GGX30121]
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This paper studies the problem of observer based fast nonsingular terminal sliding mode control schemes for nonlinear non-affine systems with actuator faults, unknown states, and external disturbances. A hyperbolic tangent function based extended state observer is considered to estimate unknown states, which enhances robustness by estimating external disturbance. Then, Taylor series expansion is employed for the non-affine nonlinear system with actuator faults, which transforms it to an affine form system to simplify disturbance observer and controller design. A finite time disturbance observer is designed to address unknown compound disturbances, which includes external disturbances and system uncertainties. A fast nonsingular terminal sliding mode with exponential function sliding mode is proposed to address output tracking. Simulation results show the proposed scheme is effective. (C) 2018 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
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