Enhancement of adaptive observer robustness applying sliding mode techniques

Denis Efimov (1) , Christopher Edwards (2) , Ali Zolghadri (3)

1 NON-A - Non-Asymptotic estimation for online systems
2 University of Exeter
3 IMS - Laboratoire de l'intégration, du matériau au système

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.

Domaines: Automatique / Robotique

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⟩