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Robust observer-sliding mode composite control for mechanical systems under uncertain disturbances.

Qin Li¹, Yuexiang Hu¹, Xinxiang Fang²

¹Hunan Mechanical & Electrical Polytechnic, Hunan, Changsha, 410117, China.

Scientific Reports

|April 17, 2026

Summary

This study introduces an improved extended state observer (ESO) and sliding mode control (SMC) for mechanical systems. The novel approach enhances disturbance rejection and tracking accuracy while reducing chattering and observer peaking.

Keywords:

Disturbance rejection Extended state observer Lyapunov stability Mechanical systems Robust control Sliding mode control

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Area of Science:

Control Systems Engineering
Robotics
Mechanical Engineering

Background:

Mechanical systems often face unknown disturbances and unmeasured states, complicating control.
Conventional observers (like ESO) can suffer from peaking, and sliding mode control (SMC) often exhibits chattering.

Purpose of the Study:

To develop a composite control strategy integrating an improved extended state observer (ESO) with sliding mode control (SMC).
To address limitations of existing methods, specifically observer peaking and controller chattering, in mechanical systems with unknown disturbances and unmeasured states.

Main Methods:

A novel extended state observer (ESO) with a time-varying gain mechanism was designed to mitigate peaking and ensure fast convergence.
A sliding mode controller (SMC) was synthesized using observer-estimated states and disturbance compensation to reduce chattering.
Lyapunov theory was employed for rigorous stability analysis, proving uniform ultimate boundedness and characterizing error bounds.

Main Results:

The proposed time-varying gain ESO effectively balances transient peaking and asymptotic accuracy.
The composite controller significantly reduced chattering compared to conventional SMC.
Simulations confirmed superior tracking accuracy and disturbance rejection against PID and standard SMC, especially under severe interference.

Conclusions:

The integrated ESO-SMC framework offers a robust and stable solution for controlling mechanical systems with uncertainties.
The method provides provable stability guarantees and demonstrates practical advantages in performance over existing techniques.