This paper considers the problem of robust output regulation of nonlinear systems in semi strict-feedback form in the presence of model uncertainties and nonvanishing disturbances. In the proposed procedure, two exosystems are considered to generate the disturbance and reference signals. In order to reduce both the conservatism of the control law and the chattering phenomena, a disturbance observer is designed for disturbance estimation instead of assuming the known upper bound for the disturbance. Moreover, a novel sliding surface is designed based on the tracking error to guarantee that the output of the system tracks the output of the exosystem. In this regard, some theorems are given and according to the Lyapunov approach, it is proved that the robust output regulation is guaranteed in the presence of model uncertainties and external disturbances. Finally, in order to show the applicability of the proposed controller, it is applied to the Van der Pol chaotic oscillator. Computer simulations verify the theoretical results and also show the effective performance of the proposed controller.
Robust Output Regulation Via Sliding Mode Control and Disturbance Observer: Application in a Forced Van Der Pol Chaotic Oscillator
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received September 3, 2016; final manuscript received February 18, 2017; published online June 5, 2017. Assoc. Editor: Hashem Ashrafiuon.
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Shiravani, F., and Shafiei, M. H. (June 5, 2017). "Robust Output Regulation Via Sliding Mode Control and Disturbance Observer: Application in a Forced Van Der Pol Chaotic Oscillator." ASME. J. Dyn. Sys., Meas., Control. September 2017; 139(9): 091015. https://doi.org/10.1115/1.4036235
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