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Terminal sliding mode observers for a class of nonlinear systems |
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| Authors: | Chee Pin Tan Xinghuo Yu |
| Affiliation: | a School of Engineering, Monash University Sunway campus, 46150 Selangor, Malaysia b Platform Technologies Research Institute, RMIT University, G.P.O. Box 2476, Melbourne VIC 3001, Australia c School of Electrical and Electronic Engineering, Swinburne University of Technology, P.O. Box 218, Hawthorn VIC 3122, Australia |
| Abstract: | 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. |
| Keywords: | Observers Terminal sliding mode Nonlinear systems |
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