Sliding mode disturbance observer-based adaptive control for uncertain MIMO nonlinear systems with dead-zone

摘要

In this paper, an adaptive integral sliding mode control (ISMC) scheme is developed for a class of uncertain multi-input and multi-output nonlinear systems with unknown external disturbance, system uncertainty, and dead-zone. The research is motivated by the fact that the ISMC scheme against unknown external disturbance and system uncertainty is very important for multi-input and multi-output nonlinear systems. The system uncertainty, the unknown external disturbance, and the effect of dead-zone are integrated as a compounded disturbance, which is well estimated using a sliding mode disturbance observer (SMDO). Then, the adaptive ISMC based on the designed SMDO is presented to guarantee the satisfactory tracking performance in the presence of system uncertainty, external disturbance, and dead-zone. Finally, the designed adaptive ISMC strategy based on SMDO is applied to the attitude control of the near space vehicle, and simulation results are presented to illustrate the effectiveness of the proposed adaptive ISMC scheme using the SMDO. Copyright (c) 2016 John Wiley & Sons, Ltd.