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Second-order sliding-mode observer for mechanical systems

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3 Author(s)
J. Davila ; Appl. Math. Dept., Tel-Aviv Univ., Israel ; L. Fridman ; A. Levant

The super-twisting second-order sliding-mode algorithm is modified in order to design a velocity observer for uncertain mechanical systems. The finite time convergence of the observer is proved. Thus, the observer can be designed independently of the controller. A discrete version of the observer is considered and the corresponding accuracy is estimated.

Published in:

IEEE Transactions on Automatic Control  (Volume:50 ,  Issue: 11 )