Name
Abstract | ||
|---|---|---|
This work proposes a design scheme for arbitrary order discrete-time sliding mode observers for input-affine nonlinear systems. The dynamics of the estimation errors are represented in a pseudolinear form, where the coefficients of the characteristic polynomial comprise the nonlinearities of the algorithm. The design process is reduced to a state-dependent eigenvalue placement procedure. Moreover, two different discrete-time eigenvalue mappings are proposed. As basis for the eigenvalue mappings serves a modified version of the continuous-time uniform robust exact differentiator. Due on the chosen eigenvalue mapping the proposed algorithm does not suffer from discretization chattering. Global asymptotic stability of the estimation errors for observers of order 2 and 3 is proven and the method to prove stability for higher order observers is demonstrated. The performance of a 3-rd order observer is illustrated in simulation. Simulation studies indicate that proposed discrete-time observer might possess an upper bound of its convergence time independent of the initial conditions. (C) 2021 The Author(s). Published by Elsevier B.V. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1016/j.sysconle.2021.104992 | SYSTEMS & CONTROL LETTERS |
Keywords | DocType | Volume |
Sliding mode control, Fixed time convergence, Discrete-time observer | Journal | 155 |
ISSN | Citations | PageRank |
0167-6911 | 0 | 0.34 |
References | Authors | |
0 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Maximilian Wetzlinger | 1 | 0 | 0.34 |
| Markus Reichhartinger | 2 | 61 | 13.35 |
| Martin Horn | 3 | 48 | 24.11 |