Sliding Mode Observers

本研究旨在发展一种滑动模态的设计方法 一类非线性系统的观测器 双重问题， 滑模控制提出了一些非常有趣的特点， 原则，它具有理想的鲁棒性，在面对 参数不确定性和干扰。 但实际上，控制 抖振严重限制了该方法的适用性。 观察员 设计处理的问题是从 测量系统输出。 对于非线性系统，观测器 目前使用线性化技术设计，特别是 扩展卡尔曼滤波 我们非常希望能设计出 观察员，直接占全非线性动力学的 工厂，做滑模控制器。 该奖项将使 对上述思想的探索。 在发展理论和 考虑一个简单的实际例子， 判断滑模观测器的应用是否真实 实际上，或包含隐藏的困难。

This research aims at developing a design methodology for sliding mode observers for a class of nonlinear systems. The dual problem, that of sliding mode control presents some very interesting features in that in principle it possesses ideal robustness properties in the face of parametric uncertainty and disturbances. In practice, however, control chattering has severely limited the method's applicability. Observer design deals with the problem of reconstructing the state vector from measurements of the system output. For nonlinear systems, observers are currently designed using linearized techniques, particularly extended Kalman filtering. It would be highly desirable to design observers that directly account for the full nonlinear dynamics of the plant, as do sliding mode controllers. This award will allow the exploration of the ideas described above. In developing the theory and considering a simple practical example it should be possible to determine if the appplication of sliding mode observers is truly practical, or contains hidden difficulties.