Title :
Second-order sliding-mode observer for mechanical systems
Author :
Davila, Jorge ; Fridman, Leonid ; Levant, Arie
Author_Institution :
Appl. Math. Dept., Tel-Aviv Univ., Israel
Abstract :
The super-twisting second-order sliding-mode algorithm is modified in order to design a velocity observer for uncertain mechanical systems. The finite time convergence of the observer is proved. Thus, the observer can be designed independently of the controller. A discrete version of the observer is considered and the corresponding accuracy is estimated.
Keywords :
convergence; observers; uncertain systems; variable structure systems; velocity control; finite time convergence; second order sliding mode observer; uncertain mechanical system; velocity observer; Algorithm design and analysis; Cities and towns; Convergence; Friction; H infinity control; Mechanical systems; Observers; Robustness; Sliding mode control; Uncertainty; Nonlinear observers; sliding modes;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2005.858636
