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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Detalhes bibliográficos

Principais autores:	Qin Li, Yuexiang Hu, Xinxiang Fang
Formato:	Artigo
Idioma:	Inglês
Publicado em:	Nature Portfolio 2026-04-01
coleção:	Scientific Reports
Assuntos:	Extended state observer Sliding mode control Disturbance rejection Mechanical systems Robust control Lyapunov stability
Acesso em linha:	https://doi.org/10.1038/s41598-026-49206-7
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