ストリクトフィードバックシステムに対するインテグラルスライディングモードオブザーバの設計

抄録

In this paper, we present a new design of robust observer for nonlinear strict feedback systems. Many controllers that have been proposed in control engineering require full information of states. However, we may not be able to measure full states because of cost or physical constraints. Therefore, many researchers proposed various observers for estimating sates. Luenberger-type observer is the most popular observer in control engineering. However, Luenberger-type observer may not work well when it is applied to systems with uncertainties. Therefore, the robustness of observers is an important issue. In this research, we propose a robust observer called Integral sliding mode observer (ISMO) by introducing some kind of auxiliary system to Luenberger-type observer. Even if the system has uncertainties, the proposed observer guarantees the stability of estimation errors if the uncertainties satisfies the conditions for generating sliding mode. We simulated a single pendulum and van der Pol oscillator. The simulation results show the robustness of the proposed observer.