Unknown Input Estimation for Nonlinear Systems Using Sliding Mode Observers and Smooth Window Functions

DOI10.1137/16M1078793zbMATH Open1405.90100arXiv1507.03924MaRDI QIDQ4686352FDOQ4686352

Ankush Chakrabarty, Ann E. Rundell, Fanglai Zhu, Stanislaw H. Żak, Greg Buzzard

Publication date: 10 October 2018

Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)

Abstract: While sliding mode observers (SMOs) using discontinuous relays are widely analyzed, most SMOs are implemented computationally using a continuous approximation of the discontinuous relays. This approximation results in the formation of a boundary layer in a neighborhood of the sliding manifold in the observer error space. Therefore, it becomes necessary to develop methods for attenuating the effect of the boundary layer and guaranteeing performance bounds on the resulting state estimation error. In this paper, a method is proposed for constructing boundary-layer SMOs (BL-SMOs) with prescribed state estimation error bounds. The BL-SMO formulation is then extended to simultaneously estimate exogenous inputs (disturbance signals in the state and output vector fields), along with the system state. Two numerical examples are presented to illustrate the effectiveness of the proposed approach.

Full work available at URL: https://arxiv.org/abs/1507.03924

zbMATH Keywords

descriptor systemslinear matrix inequalitiessliding modeunknown input observerslow-pass filteringincremental quadratic constraintsmultiplier matrix

Mathematics Subject Classification ID

Convex programming (90C25) Filtering in stochastic control theory (93E11) Design techniques (robust design, computer-aided design, etc.) (93B51)

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Cited In (3)

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Uses Software

• CVX

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