新型有限时间收敛滑模扩张状态观测器研究

On a Novel Sliding Mode Extended State Observer with Finite-time Convergence

摘要: 针对一类具有量测噪声的非线性不确定系统，设计了基于新型滑模扩张状态观测器的Terminal滑模控制方案．首先对系统进行两次状态扩张，然后设计一种新型滑模扩张状态观测器，通过采用特殊的滑模面保证观测误差在有限时间内收敛到零．在此基础上，设计Terminal滑模控制器，使系统状态也能在有限时间内收敛到零．严格的理论证明和仿真结果均证明了所设计新型滑模观测器及闭环控制方案的有效性和快速性．

Abstract: A Terminal sliding mode control based on novel sliding mode extended state observer is presented for a class of nonlinear uncertain systems with measurement noise.After the system is extended by two times,a novel sliding mode extended state observer is proposed,which uses a special sliding mode surface to guarantee that the observer errors converge to zero in a finite time.Then the Terminal sliding mode controller,which can also provide system states finite-time convergence,is designed.Finally,strict theoretical proofs and simulation results are given to demonstrate the effectiveness and expeditiousness of the presented sliding mode observer and the closed-loop control scheme.