Higher order sliding modes and arbitrary-order exact robust differentiation

A. Levant

doi:10.23919/ecc.2001.7076043

Higher order sliding modes and arbitrary-order exact robust differentiation

A. Levant^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

An arbitrary-order finite-time-convergent exact robust differentiator is constructed based on higher-order sliding mode (HOSM) technique. Being used in a feedback together with previously proposed HOSM controllers, it produces a universal controller, formulated in input-output terms only, which causes the output of any uncertain smooth SISO minimum-phase dynamic system with known relative degree to vanish in finite time. That allows exact tracking of arbitrary real-time smooth signals. The control can be made arbitrarily smooth, providing for arbitrarily-high tracking-accuracy order with respect to the sampling step. Only one parameter is to be tuned.

Original language	English
Title of host publication	2001 European Control Conference, ECC 2001
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	996-1001
Number of pages	6
ISBN (Electronic)	9783952417362
DOIs	https://doi.org/10.23919/ecc.2001.7076043
State	Published - 2001
Externally published	Yes
Event	6th European Control Conference, ECC 2001 - Porto, Portugal Duration: 4 Sep 2001 → 7 Sep 2001

Publication series

Name	2001 European Control Conference, ECC 2001

Conference

Conference	6th European Control Conference, ECC 2001
Country/Territory	Portugal
City	Porto
Period	4/09/01 → 7/09/01

Keywords

Non-linear Observers
Robust Filtering
Stabilization of Non-linear Systems
Trajectory Tracking in Non-linear Systems
Variable Structure Control

Access to Document

10.23919/ecc.2001.7076043

Cite this

@inproceedings{ab82cc3723b44e638b70a9ad449982fd,

title = "Higher order sliding modes and arbitrary-order exact robust differentiation",

abstract = "An arbitrary-order finite-time-convergent exact robust differentiator is constructed based on higher-order sliding mode (HOSM) technique. Being used in a feedback together with previously proposed HOSM controllers, it produces a universal controller, formulated in input-output terms only, which causes the output of any uncertain smooth SISO minimum-phase dynamic system with known relative degree to vanish in finite time. That allows exact tracking of arbitrary real-time smooth signals. The control can be made arbitrarily smooth, providing for arbitrarily-high tracking-accuracy order with respect to the sampling step. Only one parameter is to be tuned.",

keywords = "Non-linear Observers, Robust Filtering, Stabilization of Non-linear Systems, Trajectory Tracking in Non-linear Systems, Variable Structure Control",

author = "A. Levant",

note = "Publisher Copyright: {\textcopyright} 2001 EUCA.; null ; Conference date: 04-09-2001 Through 07-09-2001",

year = "2001",

doi = "10.23919/ecc.2001.7076043",

language = "אנגלית",

series = "2001 European Control Conference, ECC 2001",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "996--1001",

booktitle = "2001 European Control Conference, ECC 2001",

address = "ארצות הברית",

}

Levant, A 2001, Higher order sliding modes and arbitrary-order exact robust differentiation. in 2001 European Control Conference, ECC 2001., 7076043, 2001 European Control Conference, ECC 2001, Institute of Electrical and Electronics Engineers Inc., pp. 996-1001, 6th European Control Conference, ECC 2001, Porto, Portugal, 4/09/01. https://doi.org/10.23919/ecc.2001.7076043

TY - GEN

T1 - Higher order sliding modes and arbitrary-order exact robust differentiation

AU - Levant, A.

PY - 2001

Y1 - 2001

N2 - An arbitrary-order finite-time-convergent exact robust differentiator is constructed based on higher-order sliding mode (HOSM) technique. Being used in a feedback together with previously proposed HOSM controllers, it produces a universal controller, formulated in input-output terms only, which causes the output of any uncertain smooth SISO minimum-phase dynamic system with known relative degree to vanish in finite time. That allows exact tracking of arbitrary real-time smooth signals. The control can be made arbitrarily smooth, providing for arbitrarily-high tracking-accuracy order with respect to the sampling step. Only one parameter is to be tuned.

AB - An arbitrary-order finite-time-convergent exact robust differentiator is constructed based on higher-order sliding mode (HOSM) technique. Being used in a feedback together with previously proposed HOSM controllers, it produces a universal controller, formulated in input-output terms only, which causes the output of any uncertain smooth SISO minimum-phase dynamic system with known relative degree to vanish in finite time. That allows exact tracking of arbitrary real-time smooth signals. The control can be made arbitrarily smooth, providing for arbitrarily-high tracking-accuracy order with respect to the sampling step. Only one parameter is to be tuned.

KW - Non-linear Observers

KW - Robust Filtering

KW - Stabilization of Non-linear Systems

KW - Trajectory Tracking in Non-linear Systems

KW - Variable Structure Control

UR - http://www.scopus.com/inward/record.url?scp=84947445302&partnerID=8YFLogxK

U2 - 10.23919/ecc.2001.7076043

DO - 10.23919/ecc.2001.7076043

M3 - פרסום בספר כנס

AN - SCOPUS:84947445302

T3 - 2001 European Control Conference, ECC 2001

SP - 996

EP - 1001

BT - 2001 European Control Conference, ECC 2001

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 4 September 2001 through 7 September 2001

ER -

Higher order sliding modes and arbitrary-order exact robust differentiation

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this