Title :
Nonlinear state estimation using sliding observers
Author :
Slotine, Jean-Jacques E. ; Hedrick, J.K. ; Misawa, E.A.
Author_Institution :
Massachusetts Institute of Technology, Cambridge, MA
Abstract :
Sliding controllers have recently been shown to feature excellent robustness and performance properties for specific classes of nonlinear tracking problems. This paper examines the potential use of sliding surfaces for observer design. A particular observer structure including switching terms is shown to have promising properties in the presence of modelling errors and sensor noise.
Keywords :
Laboratories; Mechanical engineering; Noise robustness; Nonlinear systems; Observers; Pulse width modulation; Robust control; Sliding mode control; State estimation; Uncertainty;
Conference_Titel :
Decision and Control, 1986 25th IEEE Conference on
Conference_Location :
Athens, Greece
DOI :
10.1109/CDC.1986.267257