Decentralised Observation Using Higher Order Sliding Mode Techniques
Decentralised Observation Using Higher Order Sliding Mode Techniques
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DOI：
10.3182/20140824-6-za-1003.01809
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
Xing-gang Yan;L. Fridman;S. Spurgeon;Qingling Zhang
中科院分区：
文献类型：
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作者：
Xing-gang Yan;L. Fridman;S. Spurgeon;Qingling Zhang
摘要基于高阶滑模技术，针对一类非线性互联系统，提出了一种分散观测器方案。不要求标称子系统或孤立的标称子系统是可线性化的。在孤立标称子系统具有一致相对度的假设下，利用局部坐标变换将这些系统变换成一个新的互联系统，从而便于高阶滑模设计。设计了由一组解耦动力系统组成的观测器，使得观测误差动力系统指数收敛到零。所设计的观测器是连续的，可以避免抖振。该配置是一种分散式方案，便于实际实施。
Abstract In this paper, a decentralised observer scheme is proposed for a class of nonlinear interconnected systems based on higher order sliding mode techniques. It is not required that the nominal subsystems or the isolated nominal subsystems are linearizable. Under the assumption that the isolated nominal subsystems have uniform relative degree, local coordinate transformations are used to transform these systems to a new interconnected system which facilitates higher order sliding mode design. Observers composed of a set of decoupled dynamical systems are designed such that the observation error dynamical systems converge to zero exponentially. The designed observer is continuous and chattering can be avoided. The configuration is convenient for practical implementation as it is a decentralised scheme.