A dynamic neural network (DNN) observer-based output feedback controller for uncertain nonlinear systems with bounded disturbances is developed. The DNN-based observer works in conjunction with a dynamic filter for state estimation using only output measurements during online operation. A sliding mode term is included in the DNN structure to robustly account for exogenous disturbances and recon...

Abstract: In order to solve chattering problem of conventional sliding mode observer (SMO), this paper proposes a exponential reaching law sliding mode observer (ERL-SMO) for a permanent magnet synchronous motor (PMSM) which substitutes exponential reaching law for constant reaching law. The ERL-SMO estimates the rotor position and the angular velocity from the back electromotive force (EMF) ba...

In this paper, a decentralised observer scheme is proposed for a class of nonlinear interconnected systems based on higher order sliding mode techniques. It is not required that the nominal subsystems or the isolated nominal subsystems are linearizable. Under the assumption that the isolated nominal subsystems have uniform relative degree, local coordinate transformations are used to transform ...

The guidance of a torpedo represents a hard task because of the smooth nonlinear aspect of this system and because of the extreme external disturbances. The torpedo guidance reposes on the speed and the position control. In fact, the control approach which is very solicited for the electromechanical systems is the sliding mode control (SMC) which proved its effectiveness through the different s...

This paper presents a process for the estimation of tire-road forces, vehicle sideslip angle and wheel cornering stiffness. The method uses measurements (yaw rate, longitudinal/lateral accelerations, steering angle and angular wheel velocities) only from sensors which can be integrated or have already been integrated in modern cars. The estimation process is based on two blocks in series: the f...

We focus on the analysis and design of two different sliding mode observers for dynamic Takagi-Sugeno (TS) fuzzy systems. A nonlinear system of this class is composed of multiple affine local linear models that are smoothly interpolated by weighting functions resulting from a fuzzy partitioning of the state space of a given nonlinear system subject to observation. The Takagi-Sugeno fuzzy system...

In this paper a theoretical framework of robust fault-tolerant control (FTC) for a class of nonlinear nonaffine-in-control systems is developed. In the framework, an observer-like auxiliary system is designed via adaptive and sliding mode techniques, which is only required to ensure that the output of the auxiliary system asymptotic tracking plant output. Based on the auxiliary system, a reconf...

This study proposed a novel robust sliding mode control strategy for the stabilized platform of rotary steering drilling system. Firstly, a Nonlinear Disturbance Observer (NDO) which can converge exponentially with suitable design parameters is used to observe the uncertain disturbance of stabilized platform under work condition. Subsequently, sliding mode controller is designed to guarantee th...