Disturbance observer‐based <scp>two‐Layer</scp> control strategy design to deal with both matched and mismatched uncertainties
Hamid Reza Shafei, Mohsen Bahrami, Heidar Ali Talebi
Abstract
Abstract This study presents a novel control strategy for managing nonlinear systems in the presence of mismatched uncertainties. Dealing with the uncertainties that do not satisfy the so‐called matching conditions is an ongoing issue in control engineering. In this regard, and for the first time, a disturbance observer (DO)‐based hybrid control system, which considers robustness as well as control signal optimality, is developed in this article. For this purpose, and with the aim of robustly managing uncertain nonlinear systems and achieving optimized control effort, an optimal control law based on the state‐dependent Riccati equation is integrated with a DO‐based second‐order sliding mode controller. The Lyapunov stability theory is applied to verify the asymptotic stability of the designed control system. Computer simulations are performed to demonstrate the efficacy and the superiority of our novel controller over two other existing methods (DO‐based sliding mode control [SMC] and DO‐based adaptive SMC). The simulation results show that the presented method is capable of managing uncertain nonlinear systems robustly and with much less control effort than the two mentioned methods.