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Iterative higher order sliding mode observer for nonlinear systems with unknown inputs

Jean-Pierre Barbot 1, 2 Thierry Floquet 2, 3 
2 ALIEN - Algebra for Digital Identification and Estimation
Inria Lille - Nord Europe, Inria Saclay - Ile de France, Centrale Lille, X - École polytechnique, CNRS - Centre National de la Recherche Scientifique : UMR8146
3 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
Abstract : This paper deals with the problem of the design sliding mode observers for nonlinear systems subject to unknown inputs. In most approaches, sliding mode observers can be designed under the assumption that the system can be transformed into a specific canonical observable form. Then, the state and the unknown input of the system can be recovered in finite time. In this work, the class of systems for which unknown input sliding mode observers can be designed is enlarged by introducing an extended triangular observable form and a higher order sliding mode observers for which finite time convergence can be shown using Lyapunov stability arguments.
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Submitted on : Friday, December 18, 2009 - 12:18:11 PM
Last modification on : Wednesday, March 23, 2022 - 3:51:21 PM
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  • HAL Id : inria-00442129, version 1



Jean-Pierre Barbot, Thierry Floquet. Iterative higher order sliding mode observer for nonlinear systems with unknown inputs. Dynamics of Continuous, Discrete and Impulsive Systems, University of Waterloo, Ontario, Canada, 2010, 17 (6), pp.1019-1033. ⟨inria-00442129⟩



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