Disturbance observer-based sliding mode control of series elastic actuators with unmatched disturbances

Tracking control of pneumatic artificial muscle actuators based on sliding mode and non-linear disturbance observer

The dynamic properties and non-linear control of the pneumatic muscle actuator (PMA) were investigated in this study for use in a specially designed hand rehabilitation device. The phenomenological model of PMA was established in the lower pressure range applicable for hand rehabilitation. The experimental results show that PMA’s characteristics can be approximated by piecewise functions. In or...

Control of Quadrotor Using Sliding Mode Disturbance Observer and Nonlinear H∞

In this paper, a nonlinear model of the underactuated six degrees of freedom (6 DOF) quadrotor helicopter was derived based on the Newton-Euler formalism. A new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. The proposed control structure consist of a sliding mode control base...

Sliding-mode control of uncertain systems in the presence of unmatched disturbances with applications

Sliding mode control of nonlinear SISO systems with both matched and unmatched disturbances

In this paper, the nonlinear sliding mode control (SMC) with mismatch disturbances is proposed. We treat the problem of control with this class of disturbances and the chattering phenomena. The proposed method attenuates the effect of both uncertainties, external disturbances and eliminates the chattering phenomenon introduced by classical sliding mode control. The model of a hydraulic system i...

Output Feedback Sliding Mode Control for a Class of Uncertain Multivariable Systems with Unmatched Nonlinear Disturbances