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

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.