Second-order sliding-mode observer for mechanical systems

被引：910

作者：

Davila, J

Fridman, L

Levant, A

机构：

[1] Univ Nacl Autonoma Mexico, Dept Control, Div Elect Engn, Mexico City 04510, DF, Mexico

[2] Tel Aviv Univ, Sch Math Sci, Dept Appl Math, IL-69978 Tel Aviv, Israel

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2005年 / 50卷 / 11期

关键词：

nonlinear observers; sliding modes;

D O I：

10.1109/TAC.2005.858636

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The super-twisting second-order sliding-mode algorithm is modified in order to design a velocity observer for uncertain mechanical systems. The finite time convergence of the observer is proved. Thus, the observer can be designed independently of the controller. A discrete version of the observer is considered and the corresponding accuracy is estimated.

引用

页码：1785 / 1789

页数：5

共 16 条

[1] An invariance principle for discontinuous dynamic systems with application to a Coulomb friction oscillator [J].