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TECHNICAL PAPERS

A Study on Sliding Mode State Estimation

[+] Author and Article Information
Jin-Hee Choi, Eduardo A. Misawa, Gary E. Young

Oklahoma State University, School of Mechanical and Aerospace Engineering, Stillwater, OK 74078-5016

J. Dyn. Sys., Meas., Control 121(2), 255-260 (Jun 01, 1999) (6 pages) doi:10.1115/1.2802463 History: Received January 13, 1999; Online December 03, 2007

Abstract

The design of sliding observers is discussed in the paper. The sliding observer is shown to have a simple structure and to be robust with respect to bounded nonlinearities and uncertainties. The Lyapunov-like stability method is used to investigate the stability of sliding observers without assuming the matching condition and a computer-aided design methodology is suggested. A numerical example based on an inverted pendulum with moving support is used to illustrate the proposed design methodology.

Copyright © 1999 by The American Society of Mechanical Engineers
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