Finite and Fixed-Time State Estimation: Pendulum-Cart System

D. Gutiérrez; H. Ríos; J. A. Rosales; R. Galván-Guerra

doi:10.1016/j.ifacol.2017.08.550

Finite and Fixed-Time State Estimation: Pendulum-Cart System

D. Gutiérrez, H. Ríos, J. A. Rosales, R. Galván-Guerra

Unidad Profesional Interdisciplinaria de Ingeniería, Campus Hidalgo (UPIIH)

Research output: Contribution to journal › Article › peer-review

4 Scopus citations

Abstract

In this paper the problem of state estimation for the Pendulum-Cart System is addressed. Different high-order sliding-modes techniques are applied for such a mechanical system. The mathematical model is studied and a couple of high-order sliding-modes observers are proposed to estimate the state, in spite of disturbances; exactly and in a finite or fixed-time, respectively. Some experiments and comparisons are presented to illustrate the effectiveness of the presented algorithms.

Original language	English
Pages (from-to)	7139-7144
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	50
Issue number	1
DOIs	https://doi.org/10.1016/j.ifacol.2017.08.550
State	Published - Jul 2017

Keywords

Nonlinear observers
Pendulum-Cart system
State estimation

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10.1016/j.ifacol.2017.08.550

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abstract = "In this paper the problem of state estimation for the Pendulum-Cart System is addressed. Different high-order sliding-modes techniques are applied for such a mechanical system. The mathematical model is studied and a couple of high-order sliding-modes observers are proposed to estimate the state, in spite of disturbances; exactly and in a finite or fixed-time, respectively. Some experiments and comparisons are presented to illustrate the effectiveness of the presented algorithms.",

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AU - Galván-Guerra, R.

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Y1 - 2017/7

N2 - In this paper the problem of state estimation for the Pendulum-Cart System is addressed. Different high-order sliding-modes techniques are applied for such a mechanical system. The mathematical model is studied and a couple of high-order sliding-modes observers are proposed to estimate the state, in spite of disturbances; exactly and in a finite or fixed-time, respectively. Some experiments and comparisons are presented to illustrate the effectiveness of the presented algorithms.

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KW - Nonlinear observers

KW - Pendulum-Cart system

KW - State estimation

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Finite and Fixed-Time State Estimation: Pendulum-Cart System

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Keywords

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