Sliding mode variable structure controller design based on disturbance observer

摘要

This paper first designs the compensation for the nonlinear friction which exists when the position servo platform runs at very low rates; Second, sliding mode variable structure controller based on disturbance obserber was proposed for the external distances and internal parameter variables of the system. On the one hand the disturbance observer can compensate most of the external disturbances and the uncertainty, further the chattering of SMVSC can be reduced; On the other hand the SMVSC could eliminate the disturbance observer errors, to meet the requirements of the system tracking performance. Simulation results show that, the sliding mode variable structure controller based on a disturbance observer has certain robustness for external disturbances and parameter uncertainty, and achieves good control effect.