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High‐order sliding‐mode observer–based input‐output linearization
Author(s) -
Ferreira de Loza A.,
Fridman L.,
Aguilar L. T.,
Iriarte R.
Publication year - 2019
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.4556
Subject(s) - control theory (sociology) , observability , nonlinear system , underactuation , observer (physics) , linearization , sliding mode control , inverted pendulum , computer science , robustness (evolution) , state observer , controller (irrigation) , inertial frame of reference , feedback linearization , mathematics , robot , control (management) , physics , quantum mechanics , artificial intelligence , biochemistry , chemistry , biology , agronomy , gene
Summary The problem of output control in multiple‐input–multiple‐output nonlinear systems is addressed. A high‐order sliding‐mode observer is used to estimate the states of the system and identify the discrepancy between the nominal model and the real plant. The exact and finite‐time estimation may be tackled as long as the system presents the algebraic strong observability property. Thus, a continuous robust input‐output linearization strategy can be obtained with respect to a prescribed output. As a consequence, the closed‐loop dynamics performs robustly to uncertainties/perturbations. To illustrate the advantages of the proposed method, we introduce a study case that demands a robust linear system behavior: the self‐oscillations induced in an underactuated mechanical system through a two‐relay controller. Experiments with an inertial wheel pendulum illustrate the feasibility of the proposed approach.