TY  - JOUR
ID  - scholars17004
N1  - cited By 2
UR  - https://www.scopus.com/inward/record.uri?eid=2-s2.0-85126933076&doi=10.3390%2fapp12063079&partnerID=40&md5=84db237e01da6db027eec0c404f375ac
A1  - Bhaskarwar, T.
A1  - Hawari, H.F.
A1  - Nor, N.B.M.
A1  - Chile, R.H.
A1  - Waghmare, D.
A1  - Aole, S.
IS  - 6
TI  - Sliding Mode Controller with Generalized Extended State Observer for Single Link Flexible Manipulator
Y1  - 2022///
SN  - 20763417
N2  - This paper presents an enhanced generalized extended state observer (EGESO) based sliding mode control (SMC) technique for dealing with the disturbance attenuation problem for a class of non-integral chain systems with mismatched uncertainty. In the proposed control law, the robust SMC with reaching phase elimination is applied in the proposed control law, which uses the estimated states of a system. The stability analysis is thoroughly examined for both EGESO and SMC. The efficacy of the proposed controller is verified using specific examples, and later it is applied on a single-link flexible manipulator. Through simulation and experimentation analysis, it is observed that the proposed controller is giving a robust transient response as compared to existing GESO based controllers. © 2021 by the authors. Licensee MDPI, Basel, Switzerland.
VL  - 12
JF  - Applied Sciences (Switzerland)
AV  - none
PB  - MDPI
ER  -