Paper Info
Title
A Finite-Time Sliding Mode Observer For A Class Of Perturbed Nonholonomic Systems
Abstract
In this paper, an equivalent output injection based sliding mode observer is proposed for estimating the states of a class of perturbed n-dimensional nonholonomic systems. In the proposed design, we introduce a new transformation based on state scaling which renders the perturbed system in a triangular input form, amenable for the design of the observer. Thereafter, the equivalent control method is adopted in a sequential manner to estimate each of the system states one after another, in finite time such that ultimately all the states are estimated. Thus the entire state estimates are available for feedback after a finite time, in the presence of structured perturbations affecting the system. Simulations are performed on a unicycle mobile robot, to demonstrate the effectiveness of the proposed observer design.
Year
DOI
Venue
2018
10.1109/IECON.2018.8591637
IECON 2018 - 44TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY
Field
DocType
ISSN
Control theory,Robustness (computer science),Engineering,Observer (quantum physics),Nonholonomic system,Scaling,Mobile robot,Perturbation (astronomy),Finite time,Sliding mode control
Conference
1553-572X
Citations 
PageRank 
References 
0
0.34
0
Authors
3
Name
Order
Citations
PageRank
Maria Thomas101.35
Bijnan Bandyopadhyay232848.14
Leena Vachhani35010.93