DocumentCode :
646600
Title :
Interval-based sliding mode observer design for nonlinear systems with bounded measurement and parameter uncertainty
Author :
Senkel, Luise ; Rauh, Andreas ; Aschemann, Harald
Author_Institution :
Dept. of Mechatron., Univ. of Rostock, Rostock, Germany
fYear :
2013
fDate :
26-29 Aug. 2013
Firstpage :
818
Lastpage :
823
Abstract :
The estimation of non-measurable state variables as well as the reliable identification of unknown system parameters are important prerequisites for the design and implementation of controllers for nonlinear dynamic systems. However, these tasks are often impeded by the nonlinearity of dynamic system models as soon as observer techniques are sought for, which can be used for large operating ranges. Moreover, parameters and measured data are typically only known within given tolerance bounds. Such uncertainty makes the proof of the asymptotic stability of the error dynamics of classical state observers quite difficult. Therefore, a novel interval-based sliding mode observer providing point-valued estimates is presented in this paper which is designed in such a way that asymptotic stability can be guaranteed by means of an online evaluation of a suitable Lyapunov function. Furthermore, an efficient strategy for the adaptation of the switching amplitude of the observer´s variable structure part is presented to reduce the amplification of measurement noise as far as possible if time-varying state variables and time-invariant system parameters are estimated simultaneously. An illustrative example, describing the longitudinal dynamics of a vehicle, is presented to highlight the practical applicability of the observer.
Keywords :
Lyapunov methods; asymptotic stability; control system synthesis; nonlinear control systems; observers; variable structure systems; Lyapunov function; asymptotic stability; bounded measurement; controller design; error dynamics; interval-based sliding mode observer design; nonlinear systems; nonmeasurable state variables estimation; observer techniques; parameter uncertainty; point-valued estimation; switching amplitude; tolerance bounds; vehicle longitudinal dynamics; Lyapunov methods; Measurement uncertainty; Observers; Switches; Trajectory; Vectors; Vehicle dynamics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2013 18th International Conference on
Conference_Location :
Miedzyzdroje
Print_ISBN :
978-1-4673-5506-3
Type :
conf
DOI :
10.1109/MMAR.2013.6670018
Filename :
6670018
Link To Document :
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