A homogeneous extended state estimator-based super-twisting sliding mode compensator for matched and unmatched uncertainties

Abstract

In this research work, an output tracking problem of a kind of nonlinear motion control systems influenced by exogenous uncertainties using second-order super-twisting sliding mode control is studied. It is shown that when second-order super-twisting sliding mode control is implemented with finite-time convergent homogeneous extended state observer, the second-order sliding mode is achieved on the selected sliding manifold with efficient disturbance attenuation from the output. The presented control structure is tested on the air-gap control of an electromagnetic levitation suspension system using MATLAB platform. The observations prove the efficacy of the proposed algorithm providing excellent robust control efficiency along with precise attenuation of various disturbances.