Terminal sliding mode observers for a class of nonlinear systems
This paper proposes a terminal sliding mode observer for a class of nonlinear systems to
achieve finite time convergence for all error states. Compared to standard sliding mode
observers which only enable finite time convergence of the output error, the observer in this
paper makes use of fractional powers to reduce other non-output errors to zero in finite time.
A 2-degree-of-freedom robotic manipulator is used to demonstrate the effectiveness of the
proposed observer.
achieve finite time convergence for all error states. Compared to standard sliding mode
observers which only enable finite time convergence of the output error, the observer in this
paper makes use of fractional powers to reduce other non-output errors to zero in finite time.
A 2-degree-of-freedom robotic manipulator is used to demonstrate the effectiveness of the
proposed observer.
This paper proposes a terminal sliding mode observer for a class of nonlinear systems to achieve finite time convergence for all error states. Compared to standard sliding mode observers which only enable finite time convergence of the output error, the observer in this paper makes use of fractional powers to reduce other non-output errors to zero in finite time. A 2-degree-of-freedom robotic manipulator is used to demonstrate the effectiveness of the proposed observer.
Elsevier
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