#5712. Finite-time extended state observer and fractional-order sliding mode controller for impulsive hybrid port-Hamiltonian systems with input delay and actuators saturation: Application to ball-juggler robots

August 2026publication date
Proposal available till 28-05-2025
4 total number of authors per manuscript0 $

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Journal’s subject area:
Mechanical Engineering;
Mechanics of Materials;
Computer Science Applications;
Bioengineering;
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Abstract:
This paper addresses the robust control problem of mechanical systems with hybrid dynamics in port-Hamiltonian form. It is assumed that only the position states are measurable, and time-delay and saturation constraint affect the control signal. An extended state observer is designed after a coordinate transformation. The effect of the time delay in the control signal is neutralized by applying Pad? approximant and augmenting the system states. An assistant system with faster convergence is developed to handle actuators saturation. Fractional-order sliding mode controller acts as a centralized controller and compensates for the undesired effects of unknown external disturbance and parameter uncertainties using the observer estimation results.
Keywords:
Extended state observer; Finite-time control; Fractional sliding surface; Impulsive hybrid systems; Input delay; Port-Hamiltonian dynamics

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