Nonlinear Observer for Autonomous Switching Systems with Jumps

Jean-Pierre Barbot (1) , Mohamed Djemai (2) , Noureddine Manamanni (3)

1 ENSEA - Ecole Nationale Supérieure de l'Electronique et de ses Applications
2 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201
3 URCA - Université de Reims Champagne-Ardenne

This work deals with nonlinear observer synthesis for a particular class of hybrid dynamic systems (HDS): autonomous switching systems with jumps. The jumps can result from the system’s dynamics or from the diffeomorphism, which makes it possible to lead the system to an observability canonical form. In this paper, our contribution relates to the design of a second order sliding mode based observer (“Super Twisting Algorithm”). It allows for estimating both continuous and discrete state related to the active dynamic. On the other hand, these observers ensure a finite time convergence of the estimation error.

Domaines: Automatique / Robotique

Jean-Pierre Barbot, Mohamed Djemai, Noureddine Manamanni. Nonlinear Observer for Autonomous Switching Systems with Jumps. M. Djemai; M. Defoort. Hybrid Dynamical Systems, Springer, 2015. ⟨hal-03404000⟩