Finite-time state observation for non-linear uncertain systems via higher-order sliding modes

Authors: Davila, Jorge¹; Fridman, Leonid¹; Pisano, Alessandro²; Usai, Elio²

Source: International Journal of Control, Volume 82, Number 8, August 2009 , pp. 1564-1574(11)

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Abstract:

This article deals with the problem of finite-time state estimation for a class of non-linear systems possibly affected by modelling uncertainties and/or unknown inputs. The proposed method, based on the high-order sliding mode control approach, does not require the system to be transformed to any normal form, which can be difficult to achieve in the presence of model uncertainties. The sufficient conditions for observability are derived in terms of certain geometric restrictions imposed on the system's vector fields. Methods for the approximate and exact reconstruction of the unknown inputs are given and simulation results are provided and commented.

Keywords: high-order sliding modes; non-linear observers; uncertain systems

Document Type: Research article

DOI: http://dx.doi.org/10.1080/00207170802590531

Affiliations: 1: Department of Control, Division of Electrical Engineering, Facultad de Ingenieria, Universidad Nacional Autonoma de Mexico, Ciudad Universitaria, Mexico, D.F., Mexico 2: Dipartimento di Ingegneria Elettrica ed Elettronica (DIEE), Universita di Cagliari - Piazza d' Armi, Cagliari, Italy

Publication date: 2009-08-01

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