A novel sliding mode learning controller is proposed for uncertain mechanical system in this paper. The model of uncertain mechanical system is listed first, and then extended state observer is designed for the estimation of the uncertainty. Then, an extended state observer–based sliding surface is constructed. The sliding surface parameters are solved by Lyapunov function approach. Then, a sliding mode learning controller is proposed for uncertain mechanical system to overcome the inherent chattering. Finally, a numerical simulation is given to show the effectiveness of the proposed sliding mode learning controller.

中文翻译：

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基于扩展状态观测器的机械系统滑模学习控制

本文针对不确定的机械系统提出了一种新的滑模学习控制器。首先列出了不确定机械系统的模型，然后设计了扩展状态观测器来估计不确定性。然后，构造基于扩展状态观察器的滑动面。滑动面参数采用李雅普诺夫函数法求解。然后，针对不确定机械系统提出了一种滑模学习控制器，以克服固有的颤振。最后，给出了一个数值模拟，以表明所提出的滑模学习控制器的有效性。