TY - GEN
T1 - Output hierarchical super twisting observation based robust feedback control
T2 - 46th IEEE Conference on Decision and Control 2007, CDC
AU - Ferreira, Alejandra
AU - Bejarano, Francisco
AU - Fridman, Leonid
PY - 2007
Y1 - 2007
N2 - The problem of robust output feedback control for linear systems with unknown inputs based on hierarchical super twisting (HST) observation and identification is considered. Theoretically, the finite time convergence of HST observation and identification errors allows the compensation of the matched uncertainties. The accuracy of the observation, the identification, and the compensation is discussed in terms of upper bounds for deterministic noise, sampling step, and execution time. The LQ control for the nominal system is considered as a case study. Two methods to be compared are proposed: compensation via the identification of the uncertainties, which allows to avoid the chattering, and compensation via integral sliding mode control. Based on this comparison, the designer could select the more adequate controller for the system. Numerical simulations and experimental results are given for an inverted rotary pendulum system.
AB - The problem of robust output feedback control for linear systems with unknown inputs based on hierarchical super twisting (HST) observation and identification is considered. Theoretically, the finite time convergence of HST observation and identification errors allows the compensation of the matched uncertainties. The accuracy of the observation, the identification, and the compensation is discussed in terms of upper bounds for deterministic noise, sampling step, and execution time. The LQ control for the nominal system is considered as a case study. Two methods to be compared are proposed: compensation via the identification of the uncertainties, which allows to avoid the chattering, and compensation via integral sliding mode control. Based on this comparison, the designer could select the more adequate controller for the system. Numerical simulations and experimental results are given for an inverted rotary pendulum system.
UR - http://www.scopus.com/inward/record.url?scp=62749206659&partnerID=8YFLogxK
U2 - 10.1109/CDC.2007.4434984
DO - 10.1109/CDC.2007.4434984
M3 - Contribución a la conferencia
AN - SCOPUS:62749206659
SN - 1424414989
SN - 9781424414987
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 4335
EP - 4340
BT - Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 12 December 2007 through 14 December 2007
ER -