High Order Sliding Mode Differentiator for Dynamical Inversion of Non-Involutive Systems

Barbot, Jean Pierre, Boutat, Driss, Busawon, Krishna and Kothari, Mangal (2014) High Order Sliding Mode Differentiator for Dynamical Inversion of Non-Involutive Systems. In: IFAC World Congress, 24-29 August 2014, Cape Town, South Africa.

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Abstract

This paper deals with the left inversion problem for a class of nonlinear systems. It is well-known that such problem is a challenging one because of the presence of non-smooth unknown inputs and non-involutivity of the forced fields’ distribution. To overcome these difficulties, we first propose a novel left invertible form. Then, using this form, we design an observer in order to reconstruct the state and the control inputs. Numerical results are given in order to validate the proposed approach.

Item Type: Conference or Workshop Item (Paper)
Subjects: H600 Electronic and Electrical Engineering
Department: Faculties > Engineering and Environment > Mathematics, Physics and Electrical Engineering
Depositing User: Nicola King
Date Deposited: 03 Jul 2014 15:31
Last Modified: 24 Oct 2017 08:53
URI: http://nrl.northumbria.ac.uk/id/eprint/16829

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