"An Adaptive Switching-Gain Sliding-Mode-Assisted Disturbance Observer " by Dapeng Tian, Rui Xu et al.
Abstract Active disturbance compensation is crucial for realizing high-precision servo control. However, the suppression of rapidly changing disturbances is still a challenging issue. In this work, observer-based disturbance-rejection control is investigated, and an observer with adaptive switching gain is proposed for improved robustness against changing disturbances. First, a disturbance observer (DOB) is established, based on the tracking differentiator technique. Second, a sliding-mode-assisted observer with an adaptive law is designed to estimate the residual-disturbance estimation error...
Source: uow.edu.au