Title :
An equivalent control based second order sliding mode observer using robust differentiators
Author :
Sánchez-Torres, Juan Diego ; Loukianov, Alexander G. ; Murillo, Julián Alberto Patiño ; Giraldo, Bertulfo ; Botero, Héctor
Author_Institution :
Dept. of Electr. Eng. & Comput., CINVESTAV, Guadalajara, Mexico
Abstract :
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.
Keywords :
control system synthesis; nonlinear control systems; observers; robust control; variable structure systems; chattering effect reduction; equivalent control method; finite time convergence; nonlinear system; observer design; relay-type correction term; robust differentiator; second order sliding mode observer; Chemical reactors; Convergence; Equations; Mathematical model; Observers; Robustness; Vectors;
Conference_Titel :
Robotics Symposium, 2011 IEEE IX Latin American and IEEE Colombian Conference on Automatic Control and Industry Applications (LARC)
Conference_Location :
Bogota
Print_ISBN :
978-1-4577-1689-8
DOI :
10.1109/LARC.2011.6086834
