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Unmatched uncertainties compensation based on high-order sliding mode observation

Abstract : The problem of compensation of the effects of unmatched uncertainties/perturbations is considered. High-order sliding mode observers are employed for exact state and uncertainties/perturbations reconstruction. A sliding mode control design is proposed ensuring theoretically exact compensation of the uncertainties/perturbations for the corresponding unmatched states based on the identified perturbation values. An inverted pendulum simulation example is considered illustrating the feasibility of the proposed approach. © 2012 John Wiley & Sons, Ltd.
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Submitted on : Friday, March 18, 2022 - 4:47:59 PM
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Alejandra Ferreira de Loza, Francisco Javier Bejarano, Leonid Fridman. Unmatched uncertainties compensation based on high-order sliding mode observation. International Journal of Robust and Nonlinear Control, Wiley, 2013, 23 (7), pp.754-764. ⟨10.1002/rnc.2795⟩. ⟨hal-03613736⟩

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