期刊
INTERNATIONAL JOURNAL OF CONTROL
卷 83, 期 9, 页码 1920-1929出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207179.2010.501386
关键词
sliding mode observer; unknown inputs; strong detectability
资金
- Mexican CONACyT [CVU 103957, 56819]
- PAPIIT [111208]
A global observer is designed for strongly detectable systems with unbounded unknown inputs. The design of the observer is based on three steps. First, the system is extended taking the unknown inputs (and possibly some of their derivatives) as a new state; then, using a global high-order sliding mode differentiator, a new output of the system is generated in order to fulfil, what we will call, the Hautus condition, which finally allows decomposing the system, in new coordinates, into two subsystems; the first one being unaffected directly by the unknown inputs, and the state vector of the second subsystem is obtained directly from the original system output. Such decomposition permits designing of a Luenberger observer for the first subsystem, which satisfies the Hautus condition, i.e. all the outputs have relative degree one w.r.t. the unknown inputs. This procedure enables one to estimate the state and the unknown inputs using the least number of differentiations possible. Simulations are given in order to show the effectiveness of the proposed observer.
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