Reduced-Order Observer in the Sliding-Mode Control of Nonlinear Nonaffine Systems

Author

Bartolini, Giorgio ; Punta, Elisabetta

Author_Institution

Dept. of Electr. & Electron. Eng., Univ. of Cagliari, Cagliari, Italy

Volume

55

Issue

10

fYear

2010

Firstpage

2368

Lastpage

2373

Abstract

The note considers the variable-structure control of nonlinear known nonaffine systems when the state vector is not completely available and the use of observers is required. The strategy of introducing integrators in the input channel is exploited to enlarge the class of tractable control systems. A new reduced-order observer is proposed and conditions are found under which it is proven the convergence to the unique ideal solution of both system and observer. The control problem is solved by forcing a sliding regime for the observer, while satisfying an exponential stability criterion for the observation error state equation.

Keywords

error analysis; nonlinear control systems; observers; reduced order systems; variable structure systems; integrator; nonlinear nonaffine system; observation error state equation; reduced-order observer; sliding-mode control; tractable control system; variable-structure control; Control systems; Convergence; Error correction; Jacobian matrices; Linear matrix inequalities; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Sliding mode control; Stability criteria; Nonlinear nonaffine systems; nonlinear observers; reduced order observers; sliding mode control;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2010.2053450

Filename

5491093