Details

Autor(en) / Beteiligte

• Ferreira de Loza, A.
• Fridman, L.
• Aguilar, L. T.
• Iriarte, R.

Titel

High‐order sliding‐mode observer–based input‐output linearization

Ist Teil von

• International journal of robust and nonlinear control, 2019-07, Vol.29 (10), p.3183-3199

Ort / Verlag

Bognor Regis: Wiley Subscription Services, Inc

Erscheinungsjahr

2019

Quelle

Wiley-Blackwell Full Collection

Beschreibungen/Notizen

• Summary The problem of output control in multiple‐input–multiple‐output nonlinear systems is addressed. A high‐order sliding‐mode observer is used to estimate the states of the system and identify the discrepancy between the nominal model and the real plant. The exact and finite‐time estimation may be tackled as long as the system presents the algebraic strong observability property. Thus, a continuous robust input‐output linearization strategy can be obtained with respect to a prescribed output. As a consequence, the closed‐loop dynamics performs robustly to uncertainties/perturbations. To illustrate the advantages of the proposed method, we introduce a study case that demands a robust linear system behavior: the self‐oscillations induced in an underactuated mechanical system through a two‐relay controller. Experiments with an inertial wheel pendulum illustrate the feasibility of the proposed approach.