This article deals with the problem of finite-time state estimation for a class of non-linear systems possibly affected by modelling uncertainties and/or unknown inputs. The proposed method, based on the high-order sliding mode control approach, does not require the system to be transformed to any normal form, which can be difficult to achieve in the presence of model uncertainties. The sufficient conditions for observability are derived in terms of certain geometric restrictions imposed on the system’s vector fields. Methods for the approximate and exact reconstruction of the unknown inputs are given and simulation results are provided and commented.
Finite-time state observation for non-linear uncertain systems via higher-order sliding modes
PISANO, ALESSANDRO;USAI, ELIO
2009-01-01
Abstract
This article deals with the problem of finite-time state estimation for a class of non-linear systems possibly affected by modelling uncertainties and/or unknown inputs. The proposed method, based on the high-order sliding mode control approach, does not require the system to be transformed to any normal form, which can be difficult to achieve in the presence of model uncertainties. The sufficient conditions for observability are derived in terms of certain geometric restrictions imposed on the system’s vector fields. Methods for the approximate and exact reconstruction of the unknown inputs are given and simulation results are provided and commented.
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
