Robust observer with sliding mode estimation for nonlinear uncertain systems

نویسنده

  • K. C. Veluvolu
چکیده

To handle the state estimation of a nonlinear system perturbed by a scalar disturbance distributed by a known nonlinear vector, we incorporate a sliding mode term into a nonlinear observer to realise a robust nonlinear observer. By linking the observability of the unknown input to the output measurement, the so-called matching condition is avoided. The measurable output estimation error is the sliding surface. In the sliding mode, the reduced-order error system is free from the disturbance, and the convergence of the estimation error dynamics is proven. The unknown input/disturbance is estimated from the sliding mode. Under a Lipschitz condition for the nonlinear part, the nonlinear observers are designed under the structural assumption that the system is observable with respect to any control input. The proposed robust nonlinear estimator is applied to state and unknown input estimation of a bioreactor. The simulation results demonstrate the effectiveness of the proposed method.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Second Order Sliding Mode Observer-Based Control for Uncertain Nonlinear MEMS Optical Switch

This paper studies theuncertain nonlinear dynamics of a MEMS optical switch addressing electrical, mechanical and optical subsystems. Recently, MEMS optical switch has had significant merits in reliability, control voltage requirements and power consumption. However, an inherent weakness in designing control for such systems is unavailability of switch position information at all times due to t...

متن کامل

Development of a Robust Observer for General Form Nonlinear System: Theory, Design and Implementation

The problem of observer design for nonlinear systems has got great attention in the recent literature. The nonlinear observer has been a topic of interest in control theory. In this research, a modified robust sliding-mode observer (SMO) is designed to accurately estimate the state variables of nonlinear systems in the presence of disturbances and model uncertainties. The observer has a simple ...

متن کامل

Robust Tracking Control of Satellite Attitude Using New EKF for Large Rotational Maneuvers

Control of a class of uncertain nonlinear systems, which estimates unavailable state variables, is considered. A new approach for robust tracking control problem of satellite for large rotational maneuvers is presented in this paper. The features of this approach include a strong algorithm to estimate attitude, based on discrete extended Kalman filter combined with a continuous extended Kalman ...

متن کامل

Robust Tracking Control of Satellite Attitude Using New EKF for Large Rotational Maneuvers

Control of a class of uncertain nonlinear systems, which estimates unavailable state variables, is considered. A new approach for robust tracking control problem of satellite for large rotational maneuvers is presented in this paper. The features of this approach include a strong algorithm to estimate attitude, based on discrete extended Kalman filter combined with a continuous extended Kalman ...

متن کامل

Sensor Fault Detection for a class of Uncertain Nonlinear Systems Using ‎Sliding Mode Observers

This paper deals with the issues of sensor fault detection for a class of Lipschitz uncertain nonlinear system. By definition coordinate transformation matrix for system states and output system, at first the original system divided into two subsystems. the first subsystem includes uncertainties but without any sensor faults and the second subsystem has sensor faults but is free of uncertaintie...

متن کامل

Robust discrete-time nonlinear sliding mode state estimation of uncertain nonlinear systems

In this paper, we propose a discrete-time nonlinear sliding mode observer for state and unknown input estimations of a class of single-input/single-output nonlinear uncertain systems. The uncertainties are characterized by a state-dependent vector and a scalar disturbance/unknown input. The discrete-time model is derived through Taylor series expansion together with nonlinear state transformati...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2007