TY - GEN
T1 - Discrete time supper-twisting observer for 2n dimensional systems
AU - Salgado, I.
AU - Fridman, L.
AU - Camacho, O.
AU - Chairez, I.
PY - 2011
Y1 - 2011
N2 - Sliding Mode theory has attracted the attention of many researchers due to its remarkable characteristics. A substantial amount of research is carried out in continuous time for the conventional sliding mode theory and subsequently for second order sliding modes. However, for the discrete time, case, this theory has not been exploited in comparison with the continuous case, especially for the high order sliding mode theory, There are some results about the problem of observation for discrete systems using techniques such as finite differences. In most cases, the results may only prove exponential convergence to a region delimited by the sampled period. This article proposes an observer based on the super twisting algorithm for discrete-time systems 2n dimensional. The stability proofs are given in the discrete Lyapunov sense. In terms of the linear matrix inequalities theory, the error trajectories are ultimately bounded in finite time. We present numerical results of the observer in a nonlinear biped model obtained from a discretization using the Euler approximation.
AB - Sliding Mode theory has attracted the attention of many researchers due to its remarkable characteristics. A substantial amount of research is carried out in continuous time for the conventional sliding mode theory and subsequently for second order sliding modes. However, for the discrete time, case, this theory has not been exploited in comparison with the continuous case, especially for the high order sliding mode theory, There are some results about the problem of observation for discrete systems using techniques such as finite differences. In most cases, the results may only prove exponential convergence to a region delimited by the sampled period. This article proposes an observer based on the super twisting algorithm for discrete-time systems 2n dimensional. The stability proofs are given in the discrete Lyapunov sense. In terms of the linear matrix inequalities theory, the error trajectories are ultimately bounded in finite time. We present numerical results of the observer in a nonlinear biped model obtained from a discretization using the Euler approximation.
KW - Biped Systems
KW - Sliding Modes
KW - State Observers
UR - http://www.scopus.com/inward/record.url?scp=84855765739&partnerID=8YFLogxK
U2 - 10.1109/ICEEE.2011.6106634
DO - 10.1109/ICEEE.2011.6106634
M3 - Contribución a la conferencia
AN - SCOPUS:84855765739
SN - 9781457710117
T3 - CCE 2011 - 2011 8th International Conference on Electrical Engineering, Computing Science and Automatic Control, Program and Abstract Book
BT - CCE 2011 - 2011 8th International Conference on Electrical Engineering, Computing Science and Automatic Control, Program and Abstract Book
T2 - 2011 8th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2011
Y2 - 26 October 2011 through 28 October 2011
ER -