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Enhancement of adaptive observer robustness applying sliding mode techniques

Denis Efimov 1 Christopher Edwards 2 Ali Zolghadri 3, * 
* Corresponding author
1 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
Abstract : The problem studied in this paper is one of improving the performance of a class of adaptive observer in the presence of exogenous disturbances. The $H\infty$ gains of both a conventional and the newly proposed sliding-mode adaptive observer are evaluated, to assess the effect of disturbances on the estimation errors. It is shown that if the disturbance is " matched " in the plant equations, then including an additional sliding-mode feedback injection term, dependent on the plant output, improves the accuracy of observation.
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Submitted on : Thursday, May 12, 2016 - 3:05:23 PM
Last modification on : Tuesday, November 22, 2022 - 2:26:16 PM
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Denis Efimov, Christopher Edwards, Ali Zolghadri. Enhancement of adaptive observer robustness applying sliding mode techniques. Automatica, 2016, 72, pp.53-56. ⟨10.1016/j.automatica.2016.05.029⟩. ⟨hal-01315009⟩



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