Adaptive integral sliding-mode finite-time control with integrated extended state observer for uncertain nonlinear systems

For the typical uncertain nonlinear systems subjected to controller gain variation and disturbances, an integrated adaptive robust controller, called integral sliding-mode finite-time controller with an integrated extended state observer (ISFC-IESO), is proposed. The designed controller mainly consists of an integrated ESO (IESO) unit and an integral sliding-mode control (ISMC) unit. The IESO unit is composed of improved linear and nonlinear ESOs which are designed to automatically switch each other, with the aim of enhancing disturbance estimation capability. Moreover, the ISMC unit produces an integral sliding-mode control law (SMCL) based on the newly designed integral sliding-mode surface function (SMSF) and sliding-mode reaching law (SMRL). The integral SMSF is developed based on the n-th estimated state and a designed convergence function of tracking error to suppress the influence of the disturbance estimation error. On this basis, SMRL is further presented by combining integral SMSF with a specially designed variable boundary layer thickness saturation function, for the purpose of eliminating chattering and enhancing robustness. Finally, fourteen control methods are compared to illustrate the effectiveness and superiority of the proposed ISFC-IESO.