NDLI: Output integral sliding mode with application to the LQ

Content Provider	IEEE Xplore Digital Library
Author	Bejarano, F.J. Fridman, L. Poznyak, A.
Copyright Year	2006
Description	Author affiliation: Departamento de Control Autom., CINVESTAV-IPN, Mexico City (Bejarano, F.J.)
Abstract	The problem of the realization of integral sliding mode controllers, based on output information only, is discussed. In the case when the number of inputs is more or equal than a number of outputs, the closed system, describing the integral sliding mode dynamics, is shown to lose observability. For any other case, a hierarchical sliding mode observer is proposed, allowing to reconstruct the system states practically just after the initial moment (theoretically). A low pass filter is suggested to be used for the observer realization. Taking the sampling step (during this filter realization) small enough, the convergence time and the observation error can be made arbitrary without the observer parameters adjustment. This allows to implement an output integral sliding mode concept ensuring the insensitivity (robustness) of the state trajectory with respect to the matched uncertainties. The results obtained are illustrated by numerical simulations
Starting Page	68
Ending Page	73
File Size	333342
Page Count	6
File Format	PDF
ISBN	1424402085
DOI	10.1109/VSS.2006.1644495
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-06-05
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Uncertainty Low pass filters Optimal control Observers Sampling methods Vectors Observability State estimation Sliding mode control Convergence
Content Type	Text
Resource Type	Article

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