Super twisting algorithm based step-by-step sliding mode observers for nonlinear systems with unknown inputs

Thierry Floquet 1, 2 Jean-Pierre Barbot 1, 3
1 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
2 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : This paper highlights the interest of step-by-step higher order sliding mode observers for MIMO nonlinear systems with unknown inputs. A structural matching condition, stating on the possibility to design such observers and to reconstruct the unknown inputs, is derived. A finite time sliding mode observer, based on the hierarchical use of the super twisting algorithm, is developed. Then, it is shown that this observer is of interest in the field of hybrid systems and systems with observability singularities. Lastly, it is shown through an example how to relax the usual matching condition by the means of this type of finite time sliding mode observer.
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Thierry Floquet, Jean-Pierre Barbot. Super twisting algorithm based step-by-step sliding mode observers for nonlinear systems with unknown inputs. International Journal of Systems Science, Taylor & Francis, 2007, 38 (10), pp.803-815. ⟨inria-00128137v2⟩

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