Nested backward compensation of unmatched perturbations via HOSM observation

Alejandra Ferreira de Loza (1) , E. Punta (2) , Leonid Fridman (3) , Georgio Bartolini (2) , Sebastien Delprat (4)

1 Cinvestav - Cinvestav
2 CNR ISSIA ITA
3 UNAM - Instituto de Matematicas
4 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201

This paper tackles the compensation problem of linear time invariant systems affected by unmatched perturbations. The proposed methodology exploits a high order sliding mode observer, guaranteeing theoretically exact state and perturbation estimation. A compensation based strategy is proposed to cope with the unmatched perturbations. The compensation of the desired coordinate is carried through a nested backward sliding surface design, which compensates some of the non-actuated state components, while the remaining states are maintained to be bounded. The feasibility of the technique was tested in an active suspension vehicle system.1

Domaines: Automatique / Robotique

Alejandra Ferreira de Loza, E. Punta, Leonid Fridman, Georgio Bartolini, Sebastien Delprat. Nested backward compensation of unmatched perturbations via HOSM observation. Journal of The Franklin Institute, 2014, 351 (5), pp.2397-2410. ⟨10.1016/j.jfranklin.2013.12.011⟩. ⟨hal-03644604⟩