Non-homogeneous Disturbance Observer-based Second Order Sliding Mode Control
摘要：A robust second order sliding mode control scheme for first order dynamic systems is proposed in the present paper.The controller has finite time convergent property and contains two parts. A part is fast power reaching law which is used to stabilize sliding variable and its derivative to zero in finite time without disturbance. The other part is a non-homogeneous disturbance observer, which can provide for exact estimation of the sufficiently smooth disturbance in finite time. As a result, a continuous second order sliding mode is established in finite time. Computer simulation confirms the theoretical results.