An equivalent control based second order sliding mode observer using robust differentiators
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Fecha
2011-10-01
Autores
Loukianov, Alexander
Patiño-Murillo, Julián
Giraldo, Bertulfo
Botero-Castro, Héctor
Sánchez-Torres, Juan D.
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Editor
Institute of Electrical and Electronics Engineers
Resumen
Descripción
In this paper a sliding-mode observer for a class of non-linear systems is proposed. The observer is based on the equivalent control method. The mathematical tools required to design such an observer are also presented. The proposed scheme can ensure finite time convergence of the observer and the reduction of chattering effect due to relay- type correction terms. Several examples are presented to illustrate the proposed method.
Palabras clave
State Observers, Sliding-mode Control, Robust Control
Citación
J. D. Sánchez-Torres, A. Loukianov, J. Patiño-Muriño, B. Giraldo and H. Botero-Castro, "An equivalent control based second order sliding mode observer using robust differentiators," Robotics Symposium, 2011 IEEE IX Latin American and IEEE Colombian Conference on Automatic Control and Industry Applications (LARC), Bogota, 2011, pp. 1-6.