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Robust observer-sliding mode composite control for mechanical systems under uncertain disturbances

Abstract This paper investigates a composite control strategy combining an extended state observer (ESO) with sliding mode control (SMC) for mechanical systems subject to unknown disturbances and unmeasured velocity states. The main contribution is the development of an improved ESO with a time-vary...

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Principais autores: Qin Li, Yuexiang Hu, Xinxiang Fang
פורמט: Artigo
שפה:Inglês
יצא לאור: Nature Portfolio 2026-04-01
סדרה:Scientific Reports
נושאים:
Extended state observer
Sliding mode control
Disturbance rejection
Mechanical systems
Robust control
Lyapunov stability
גישה מקוונת:https://doi.org/10.1038/s41598-026-49206-7
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