A Discontinuous Adaptive Sliding-Mode Observer for a Class of Uncertain Nonlinear Systems ⋆

Hector Ríos 1 Denis Efimov 2 Wilfrid Perruquetti 3, 4, 2
2 NON-A - Non-Asymptotic estimation for online systems
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189, Inria Lille - Nord Europe
4 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : In this paper the problem of simultaneous state and parameter estimation is studied for a class of uncertain nonlinear systems. A discontinuous adaptive sliding-mode observer is proposed based on a discontinuous nonlinear parameter estimation algorithm. It is shown that such an algorithm provides a rate of convergence faster than exponential. Then, the proposed discontinuous parameter estimation algorithm is included in the structure of a sliding-mode state observer providing an ultimate bound for the full estimation error. Some simulation results illustrate the feasibility of the proposed adaptive sliding-mode observer.
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Hector Ríos, Denis Efimov, Wilfrid Perruquetti. A Discontinuous Adaptive Sliding-Mode Observer for a Class of Uncertain Nonlinear Systems ⋆. Proc. 20th IFAC WC 2017, Jul 2017, Toulouse, France. ⟨hal-01508771⟩

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