Nested backward compensation of unmatched perturbations via HOSM observation |
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Authors: | A. Ferreira de Loza E. Punta L. Fridman G. Bartolini S. Delprat |
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Affiliation: | 1. CINVESTAV Monterrey, 66600, Mexico;2. ISSIA-CNR, 16149 Genoa, Italy;3. UNAM, Department of Control, Engineering Faculty, 04510, Mexico;4. UVHC, LAMIH, F-59313 Valenciennes, France |
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Abstract: | This paper tackles the compensation problem of linear time invariant systems affected by unmatched perturbations. The proposed methodology exploits a high order sliding mode observer, guaranteeing theoretically exact state and perturbation estimation. A compensation based strategy is proposed to cope with the unmatched perturbations. The compensation of the desired coordinate is carried through a nested backward sliding surface design, which compensates some of the non-actuated state components, while the remaining states are maintained to be bounded. The feasibility of the technique was tested in an active suspension vehicle system.1 |
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