Disturbance rejection for disturbed Port-controlled Hamiltonian systems based on sliding-mode control approach

Authors

Baozeng Fu, Xiaojie Liu, Qingzhi Wang

Abstract

For a class of Port-controlled Hamiltonian systems with nonvanishing disturbances, this paper investigates its disturbance rejection and stabilization problems via two kinds of sliding-mode control (SMC) approaches. Firstly, a new framework is developed to construct the integral sliding surface, which is dependent on the structure of the Hamiltonian system, and then a SMC law is developed to asymptotically stabilize the Hamiltonian system with better disturbance rejection capability. Secondly, in order to further reduce the chattering phenomenon and maintain the system nominal performance, a novel sliding surface is proposed based on the nonlinear disturbance observer (NDOB) and then a disturbance estimation-based SMC law is designed, which can effectively counteract disturbances and make the closed-loop Hamiltonian system asymptotically stable. Finally, a simulation example clarifies the effectiveness of the two SMC approaches, and the superiority of the NDOB-based SMC approach is also illustrated by comparisons.

Keywords

asymptotic stability, disturbance rejection, integral sliding surface, nonlinear disturbance observer, port-controlled hamiltonian systems, sliding-mode control

Citation

• Journal: Journal of the Franklin Institute
• Year: 2026
• Volume: 363
• Issue: 5
• Pages: 108510
• Publisher: Elsevier BV
• DOI: 10.1016/j.jfranklin.2026.108510

BibTeX

@article{Fu_2026,
  title={{Disturbance rejection for disturbed Port-controlled Hamiltonian systems based on sliding-mode control approach}},
  volume={363},
  ISSN={0016-0032},
  DOI={10.1016/j.jfranklin.2026.108510},
  number={5},
  journal={Journal of the Franklin Institute},
  publisher={Elsevier BV},
  author={Fu, Baozeng and Liu, Xiaojie and Wang, Qingzhi},
  year={2026},
  pages={108510}
}

Download the bib file

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