Extended State Observer Based Sliding Mode Control for a Class of Dynamic Systems with Input Constraint

This paper is devoted to developing an extended state observer based sliding mode control method to realize the robust tracking control for a class of dynamic systems with input constraint. Firstly, in order to avoid system input saturation, auxiliary subsystem is introduced. Secondly, the extended state observer is used to estimate the total disturbance item of dynamic system including nonlinearity and external disturbance term. Then, by combining the Lyapunov stability theory, an extended state observer based sliding mode tracking controller is proposed to ensure that the tracking error system can be driven onto the sliding mode surface, and the asymptotic convergence of the tracking error is guaranteed. Finally, corresponding simulation results are carried out to illustrate the effectiveness of the proposed control method.