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

被引：25

作者：

Bartolini, Giorgio ^{[1
]}

Punta, Elisabetta ^{[2
]}

机构：

[1] Univ Cagliari, Dept Elect & Elect Engn, Cagliari, Italy

[2] ISSIA CNR, Natl Res Council Italy, Inst Intelligent Syst Automat, Genoa, Italy

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2010年 / 55卷 / 10期

关键词：

Nonlinear nonaffine systems; nonlinear observers; reduced order observers; sliding mode control;

D O I：

10.1109/TAC.2010.2053450

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：2368 / 2373

页数：7