Title :
On Sliding Observers for Nonlinear Systems
Author :
Slotine, J.-J.E. ; Hedrick, J.K. ; Misawa, E.A.
Author_Institution :
Nonlinear Systems Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139
Abstract :
Sliding controllers have recently been shown to feature excellent robustness and performance properties for specific classes of nonlinear tracking problems. This paper examines the potential use of sliding surfaces for observer design. A particular observer structure including switching terms is shown to have promising properties in the presence of modelling errors and sensor noise.
Keywords :
Control systems; Laboratories; Mechanical engineering; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Pulse width modulation; Robust control; Sliding mode control; Uncertainty;
Conference_Titel :
American Control Conference, 1986
Conference_Location :
Seattle, WA, USA
