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Author

Divyesh Ginoya

Other affiliations: John Deere
Bio: Divyesh Ginoya is an academic researcher from College of Engineering, Pune. The author has contributed to research in topics: Sliding mode control & State observer. The author has an hindex of 10, co-authored 26 publications receiving 741 citations. Previous affiliations of Divyesh Ginoya include John Deere.

Papers
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Journal ArticleDOI
TL;DR: A control is proposed to handle a larger class of mismatched uncertainties by extending the disturbance observer and modifying and generalizing the sliding surface.
Abstract: This paper extends a recent result on sliding mode control for general n th order systems with mismatched uncertainties. In this paper, a control is proposed to handle a larger class of mismatched uncertainties by extending the disturbance observer and modifying and generalizing the sliding surface. The practical stability of the overall system is proved and the results are verified by simulation of an illustrative example.

495 citations

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TL;DR: A disturbance observer based multiple-surface sliding mode control is proposed to estimate the uncertainties as well as the derivative of the virtual inputs to overcome the problem of ‘explosion of terms’.

94 citations

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TL;DR: Two new strategies based on uncertainty estimation are proposed for antilock braking systems (ABSs) where the uncertainties and the disturbances are estimated using inertial delay control (IDC), and the estimates are used in a backstepping-control-based braking system.
Abstract: Two new strategies based on uncertainty estimation are proposed for antilock braking systems (ABSs). In one of the strategies, the uncertainties and the disturbances are estimated using inertial delay control (IDC), and the estimates are used in a backstepping-control-based braking system. In the other strategy, in addition to uncertainties, the states are also estimated using an inertial delay observer (IDO) for a sliding-mode-control (SMC)-based braking system. No knowledge of uncertainties, disturbances, and the road adhesion friction coefficient or their bounds is assumed. The stability of the overall system is proven, and the schemes are validated by simulation and experimentation in the laboratory.

47 citations

Journal ArticleDOI
TL;DR: A disturbance observer based sliding mode control is proposed for the control of cooperative adaptive cruise control system, estimating the uncertainty present in the actuator dynamics and the acceleration of preceding vehicle as a lumped disturbance.
Abstract: Cooperative adaptive cruise control (CACC) has a potential to improve traffic throughput, fuel efficiency and vehicle safety. The CACC utilizes onboard sensors and a wireless communication to achieve vehicle stability and string stability of a platoon. The performance of CACC is degraded due to unreliable wireless communication and uncertain dynamics of the vehicle. In this paper, a disturbance observer based sliding mode control is proposed for the control of cooperative adaptive cruise control system. This scheme estimates the uncertainty present in the actuator dynamics and the acceleration of preceding vehicle as a lumped disturbance. The proposed strategy addresses practical issues such as unavailability of preceding vehicle acceleration and range of uncertainty in the vehicle dynamics. The stability of individual vehicles and the string stability of a platoon are derived. The performance of the proposed scheme is verified by considering various traffic scenarios, and it is compared with an existing method.

47 citations

Journal ArticleDOI
TL;DR: The proposed observer not only estimates disturbances but also their derivatives, enabling improvement in the accuracy of the estimation of disturbances, and seamlessly unifies the design of continuous-time and discrete-time DOs.
Abstract: In this paper, a delta-operator-based discrete-time disturbance observer (DO) is proposed for a class of uncertain systems. The proposed observer not only estimates disturbances but also their derivatives, enabling improvement in the accuracy of the estimation of disturbances. The scheme seamlessly unifies the design of continuous-time and discrete-time DOs. The proposed observer is combined with a discrete-time sliding-mode controller with application to mismatched systems. The stability of the overall system is proved. The efficacy of the scheme is illustrated by the simulation of numerical examples and by implementation on a 2-degree-of-freedom serial flexible joint manipulator setup in a laboratory.

43 citations


Cited by
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Journal ArticleDOI
TL;DR: The stability of the whole closed-loop system is rigorously proved via the Lyapunov analysis method, and the satisfactory tracking performance is guaranteed under the integrated effect of unknown hysteresis, unmeasured states, and unknown external disturbances.
Abstract: In this paper, an adaptive neural output feedback control scheme is proposed for uncertain nonlinear systems that are subject to unknown hysteresis, external disturbances, and unmeasured states. To deal with the unknown nonlinear function term in the uncertain nonlinear system, the approximation capability of the radial basis function neural network (RBFNN) is employed. Using the approximation output of the RBFNN, the state observer and the nonlinear disturbance observer (NDO) are developed to estimate unmeasured states and unknown compounded disturbances, respectively. Based on the RBFNN, the developed NDO, and the state observer, the adaptive neural output feedback control is proposed for uncertain nonlinear systems using the backstepping technique. The first-order sliding-mode differentiator is employed to avoid the tedious analytic computation and the problem of “explosion of complexity” in the conventional backstepping method. The stability of the whole closed-loop system is rigorously proved via the Lyapunov analysis method, and the satisfactory tracking performance is guaranteed under the integrated effect of unknown hysteresis, unmeasured states, and unknown external disturbances. Simulation results of an example are presented to illustrate the effectiveness of the proposed adaptive neural output feedback control scheme for uncertain nonlinear systems.

352 citations

Journal ArticleDOI
14 Apr 2016
TL;DR: Interval type-2 Takagi-Sugeno (T-S) fuzzy model is employed to represent uncertain nonlinear systems and a novel sliding mode controller is designed to guarantee that the closed-loop system is uniformly ultimately bounded.
Abstract: This paper is concerned with the adaptive sliding mode control problem of uncertain nonlinear systems. Interval type-2 Takagi–Sugeno (T–S) fuzzy model is employed to represent uncertain nonlinear systems. The input matrices of the nonlinear systems are allowed to be different for the sliding mode controller design. The uncertain parameters are described by the lower and upper membership functions. An integral sliding mode surface is designed for analysis of sliding motion. Based on the sliding mode surface, a novel sliding mode controller is designed to guarantee that the closed-loop system is uniformly ultimately bounded. Some simulation results are given to illustrate the effectiveness of the presented control scheme.

279 citations

Journal ArticleDOI
Junxiao Wang1, Shihua Li1, Jun Yang1, Bin Wu1, Qi Li1 
TL;DR: In this article, an extended state observer (ESO)-based sliding mode control (SMC) approach for pulse-width modulation-based DC-DC buck converter systems subject to mismatched disturbances is investigated.
Abstract: This study investigates an extended state observer (ESO)-based sliding mode control (SMC) approach for pulse-width modulation-based DC-DC buck converter systems subject to mismatched disturbances. By designing a novel sliding-mode manifold incorporated with a disturbance estimation technique, an ESO-based SMC method is designed to deal with mismatched disturbances. A rigorous stability analysis is also presented. As compared with the nominal SMC method, the proposed method obtains a better disturbance rejection ability even the disturbances do not satisfy the so-called matching condition. Simulations and experimental comparison results are implemented to verify the effectiveness of the proposed control method.

242 citations

Journal ArticleDOI
TL;DR: The disturbance observer is proposed to generate the disturbance estimate, which can be incorporated in the controller to counteract the disturbance, and two approaches are proposed to design the controller and disturbance rejection gains.
Abstract: This paper develops the disturbance observer-based integral sliding-mode control approach for continuous-time linear systems with mismatched disturbances or uncertainties. The disturbance observer is proposed to generate the disturbance estimate, which can be incorporated in the controller to counteract the disturbance. With the help of the proposed disturbance observer, both the memoryless and memory-based integral sliding surfaces and integral sliding-mode controllers are developed, respectively, and two approaches, i.e., $H_\infty$ control and steady-state output-based approaches, are proposed to design the controller and disturbance rejection gains. Finally, the effectiveness and applicability of the proposed technique are illustrated by a numerical example and a real-time experiment.

219 citations

Journal ArticleDOI
TL;DR: In this paper, an integral sliding mode controller (ISMC) for a general type of underwater robots based on multiple-input and multiple-output extended-state-observer (MIMO-ESO) was developed.
Abstract: This paper develops a novel integral sliding mode controller (ISMC) for a general type of underwater robots based on multiple-input and multiple-output extended-state-observer (MIMO-ESO). The difficulties associated with the unmeasured velocities, unknown disturbances, and uncertain hydrodynamics of the robot have been successfully solved in the control design. An adaptive MIMO-ESO is designed not only to estimate the unmeasurable linear and angular velocities, but also to estimate the unknown external disturbances. An ISMC is then designed using Lyapunov synthesis, and an adaptive gain update algorithm is introduced to estimate the upper bound of the uncertainties. Rigorous theoretical analysis is performed to show that the proposed control method is able to achieve asymptotical tracking performance for the underwater robot. Experimental studies are also carried out to validate the effectiveness of the proposed control, and to show that the proposed approach performs better than a conventional potential difference (PD) control approach.

209 citations