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High‐gain observer with higher order sliding mode for state and unknown disturbance estimations
Author(s) -
Zhou Y.,
Soh Y.C.,
Shen J.X.
Publication year - 2014
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.2982
Subject(s) - control theory (sociology) , lipschitz continuity , nonlinear system , robustness (evolution) , sliding mode control , state observer , observer (physics) , mode (computer interface) , mathematics , state vector , term (time) , computer science , control (management) , artificial intelligence , physics , mathematical analysis , biochemistry , chemistry , classical mechanics , quantum mechanics , gene , operating system
SUMMARY In this paper, we consider the estimation problem of a class of single‐input–single‐output nonlinear Lipschitz systems with nonmatching uncertainty or disturbance, where the distribution vector may include the unknown states. A hybrid nonlinear observer structure that combines a high‐gain feedback with higher order sliding mode term is proposed. The high‐gain feedback works to constrain the estimation error to within an invariant set, and the sliding mode term will asymptotically track the uncertainty if the system satisfies strict structure assumptions. Furthermore, with the higher order sliding mode, the chattering effect will be effectively attenuated without sacrificing robustness, and the system uncertainty can be recovered without filtering effect. Copyright © 2013 John Wiley & Sons, Ltd.