Unmatched uncertainties compensation based on high-order sliding mode observation

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Resumen

The problem of compensation of the effects of unmatched uncertainties/perturbations is considered. High-order sliding mode observers are employed for exact state and uncertainties/perturbations reconstruction. A sliding mode control design is proposed ensuring theoretically exact compensation of the uncertainties/perturbations for the corresponding unmatched states based on the identified perturbation values. An inverted pendulum simulation example is considered illustrating the feasibility of the proposed approach.

Idioma originalInglés
Páginas (desde-hasta)754-764
Número de páginas11
PublicaciónInternational Journal of Robust and Nonlinear Control
Volumen23
N.º7
DOI
EstadoPublicada - 10 may. 2013
Publicado de forma externa

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