Development and Convergence Approve of a Robust Nonlinear Sliding Mode Observer for General Form of Nonlinear Systems

Accurate measurement of state variables of a dynamic system is often not possible due to the high cost of sensors, the space limitation, sensor damages due to contact or hostile environments. In this research a modified robust sliding mode observer is designed to accurately estimate the state variables of nonlinear systems in the presence of disturbances and model uncertainties. The observer has simple structure but efficient observation in the state estimation of dynamical systems. Stability of the developed observer and its convergence is proven. It is shown that the estimated states converge to the actual state in a finite time. The performance of the nonlinear observer is investigated by examining its capability in predicting the motion of a single link flexible manipulator. The link is driven by an electric motor mounted in the joint. Simulation results demonstrate the ability of the observer in accurately estimating the state variables of the system in the presence of structured uncertainties and different initial conditions between the observer and the plant, with various inputs.

کلیدواژه ها:

dynamical modeling ، nonlinear observer ، estimator ، robust observer ، sliding mode observer