Second-order sliding-mode observer for mechanical systems

Jorge Davila; Leonid Fridman; Arie Levant

doi:10.1109/TAC.2005.858636

Second-order sliding-mode observer for mechanical systems

Jorge Davila, Leonid Fridman, Arie Levant

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

1057 Scopus citations

Abstract

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.

Original language	English
Pages (from-to)	1785-1789
Number of pages	5
Journal	IEEE Transactions on Automatic Control
Volume	50
Issue number	11
DOIs	https://doi.org/10.1109/TAC.2005.858636
State	Published - Nov 2005
Externally published	Yes

Keywords

Nonlinear observers
Sliding modes

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10.1109/TAC.2005.858636

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title = "Second-order sliding-mode observer for mechanical systems",

abstract = "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.",

keywords = "Nonlinear observers, Sliding modes",

author = "Jorge Davila and Leonid Fridman and Arie Levant",

note = "Funding Information: Manuscript received August 18, 2004; revised January 16, 2005 and May 16, 2005. Recommended by Associate Editor Z.-P. Jiang. The work of J. Davila and L. Frid man was supported by the Mexican CONACyT (Consejo Nacional de Ciencia y Tecnologia) under Grant 43807-Y, and of the Programa de Apoyo a Proyectos de Investigacion e Innovacion Tecnolgica (PAPIIT) UNAM under Grant 117103.",

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AU - Fridman, Leonid

AU - Levant, Arie

N1 - Funding Information: Manuscript received August 18, 2004; revised January 16, 2005 and May 16, 2005. Recommended by Associate Editor Z.-P. Jiang. The work of J. Davila and L. Frid man was supported by the Mexican CONACyT (Consejo Nacional de Ciencia y Tecnologia) under Grant 43807-Y, and of the Programa de Apoyo a Proyectos de Investigacion e Innovacion Tecnolgica (PAPIIT) UNAM under Grant 117103.

PY - 2005/11

Y1 - 2005/11

N2 - 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.

AB - 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.

KW - Nonlinear observers

KW - Sliding modes

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U2 - 10.1109/TAC.2005.858636

DO - 10.1109/TAC.2005.858636

M3 - Artículo

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VL - 50

SP - 1785

EP - 1789

JO - IEEE Transactions on Automatic Control

JF - IEEE Transactions on Automatic Control

IS - 11

ER -

Second-order sliding-mode observer for mechanical systems

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Keywords

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