Global Sliding Mode Observers for Some Uncertain Mechanical Systems

Apaza-Perez, W. A.; Moreno, Jaime A.

doi:10.1109/tac.2019.2931462

Cited by 16 publications

(2 citation statements)

References 24 publications

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“…Since most of nonlinear industrial plants with digital sampling can be modeled discrete‐time T‐S fuzzy systems, 15 the fundamental problem of discrete‐time T‐S fuzzy state estimation deserves additional investigations and there are several kinds of observers found in the recent work, including a global sliding mode observer, 16 unknown input observers, 17 delay‐dependent functional observers 18 . Furthermore, T‐S fuzzy‐model‐based filter is also one of the most widely used state estimation methods 19,20 .…”

Section: Introductionmentioning

confidence: 99%

Enhanced fuzzy state estimation of discrete‐time nonlinear systems via a multi‐instant united switch‐type observer

Xie

Liu

2021

Optim Control Appl Methods

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The performance of state estimation of discrete‐time Takagi–Sugeno systems is enhanced by proposing a featured multiinstant united switch‐type observer. The novelty of the proposed observer lies in both the definition and application of a set of switching modes. Since different time‐variant free matrices can be for the first time introduced in accordance with each switching mode, both the current time and the past time normalized fuzzy weighting functions are together considered for designing the corresponding observer gain matrices with much less conservatism than those recent methods reported in the literature. Furthermore, there are only two tuning parameters which are both located in a limited candidate set and thus this fact does benefit for giving the optimal solution of our developed multiinstant united switch‐type candidates. Finally, numerical comparisons are provided in order to verify the technical superiority of the results developed in this article.

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Section: Introductionmentioning

confidence: 99%

Enhanced fuzzy state estimation of discrete‐time nonlinear systems via a multi‐instant united switch‐type observer

Xie

Liu

2021

Optim Control Appl Methods

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“…[8] and [17] propose a finite-time sliding-mode observer for 1-DOF mechanical systems with disturbances and uncertain inertial matrix, respectively, using state transformations inspired by [13]. An extension to the 2-DOF was proposed in [18] where some assumptions in the inertia matrix are required. But, global observers with convergence in fixed time have not been considered by previous works.…”

Section: Introductionmentioning

confidence: 99%

Global observers with finite-time and fixed-time convergence for a class of uncertain mechanical systems

Benarab

Apaza-Perez

2021

2021 60th IEEE Conference on Decision and Control (CDC)

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This paper proposes global sliding mode observers for a class of one-degree-of-freedom mechanical systems. For the observer design, besides the usual Coriolis and centrifugal forces, we consider uncertain dry frictions and disturbances. Moreover, the system is not required to be bounded-input bounded-state stable, rendering the observer design problem challenging. The observer design exploits the specific relationships between the inertia and Coriolis terms providing a sliding-mode observer, with global theoretically exact finite-time and fixed-time convergence to the velocities of the mechanical system. The efficiency of the proposed observer is validated through simulations on an inverted pendulum.

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Design of adaptive super twisting tracking controllers for perturbed nonlinear systems with input constraints

Cheng,

Chen,

Wen

2024

Nonlinear Dyn

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Global Sliding Mode Observers for Some Uncertain Mechanical Systems

Cited by 16 publications

References 24 publications

Enhanced fuzzy state estimation of discrete‐time nonlinear systems via a multi‐instant united switch‐type observer

Enhanced fuzzy state estimation of discrete‐time nonlinear systems via a multi‐instant united switch‐type observer

Global observers with finite-time and fixed-time convergence for a class of uncertain mechanical systems

Design of adaptive super twisting tracking controllers for perturbed nonlinear systems with input constraints

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