A canonical form for the design of unknown input sliding mode observers

Thierry Floquet (1, 2) , Jean-Pierre Barbot (1, 3)

1 ALIEN - Algebra for Digital Identification and Estimation
2 SyNeR - Systèmes Non Linéaires et à Retards
3 ECS - Equipe Commande des Systèmes

In this work, a new approach to solve the problem of designing an unknown input observer for linear systems is developed. An algorithm is given in order to find a suitable change of coordinates for the design of a step-by-step second order sliding mode observer. This observer provides, by usingthe equivalent output injections, a finite time estimation of both state and unknown inputs. Since the observer is based on second order sliding mode algorithms, the equivalent output injections are obtained in a continuous way without any use of low pass filters.

Domaines: Automatique

Thierry Floquet, Jean-Pierre Barbot. A canonical form for the design of unknown input sliding mode observers. Christopher Edwards and Enric Fossas Collet and Leonid Fridman. Advances in Variable Structure and Sliding Mode Control, 334, Spinger Verlag, 2006, Lecture Notes in Control and Information Sciences. ⟨inria-00293867⟩