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High-order sliding-mode observer-based input-output linearization
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DOI：10.1002/rnc.4556.png)
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摘要
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The problem of output control in multiple-input-multiple-output nonlinear systems is addressed. A high-order sliding-mode observer is used to estimate the states of the system and identify the discrepancy between the nominal model and the real plant. The exact and finite-time estimation may be tackled as long as the system presents the algebraic strong observability property. Thus, a continuous robust input-output linearization strategy can be obtained with respect to a prescribed output. As a consequence, the closed-loop dynamics performs robustly to uncertainties/perturbations. To illustrate the advantages of the proposed method, we introduce a study case that demands a robust linear system behavior: the self-oscillations induced in an underactuated mechanical system through a two-relay controller. Experiments with an inertial wheel pendulum illustrate the feasibility of the proposed approach.
Keyword:
disturbance identification
robust nonlinear control
sliding-mode control
uncertain systems
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3.2
论文数:
7.0K
被引数:
1.4W
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