Unmatched uncertainties compensation based on high-order sliding mode observation

Alejandra Ferreira de Loza (1) , Francisco Javier Bejarano , Leonid Fridman

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201

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.

Mots clés: robust observation; sliding mode control; uncertain systems; unmatched uncertainties

Domaines: Sciences de l'ingénieur [physics]

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, 2013, 23 (7), pp.754-764. ⟨10.1002/rnc.2795⟩. ⟨hal-03613736⟩