Robust feedback linearization using higher order sliding mode observer

S. Iqbal; C. Edwards; A. I. Bhatti

doi:10.1109/CDC.2011.6161097

Robust feedback linearization using higher order sliding mode observer

S. Iqbal^*, C. Edwards, A. I. Bhatti

^*Corresponding author for this work

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

25 Scopus citations

Abstract

A novel robust feedback linearization scheme is proposed in this paper based on a modified robust exact differentiator. The states and drift terms in the system are estimated simultaneously by the observer using back injection of the control effort. The estimated drift term is used in the feedback loop to compensate the disturbances and observed states are used for feedback linearization. Finite time convergence of the complete closed-loop system is proved and thus a form of separation principle is satisfied, i.e., the controller and observer can be separately designed. The design is verified through simulations and by experiments on a DC motor rig.

Original language	English
Title of host publication	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	7968-7973
Number of pages	6
ISBN (Print)	9781612848006
DOIs	https://doi.org/10.1109/CDC.2011.6161097
State	Published - 2011
Externally published	Yes

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Access to Document

10.1109/CDC.2011.6161097

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Iqbal, S., Edwards, C., & Bhatti, A. I. (2011). Robust feedback linearization using higher order sliding mode observer. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 (pp. 7968-7973). Article 6161097 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2011.6161097

@inproceedings{c79a8725fc79468a931afe82b69eb172,

title = "Robust feedback linearization using higher order sliding mode observer",

abstract = "A novel robust feedback linearization scheme is proposed in this paper based on a modified robust exact differentiator. The states and drift terms in the system are estimated simultaneously by the observer using back injection of the control effort. The estimated drift term is used in the feedback loop to compensate the disturbances and observed states are used for feedback linearization. Finite time convergence of the complete closed-loop system is proved and thus a form of separation principle is satisfied, i.e., the controller and observer can be separately designed. The design is verified through simulations and by experiments on a DC motor rig.",

author = "S. Iqbal and C. Edwards and Bhatti, \{A. I.\}",

year = "2011",

doi = "10.1109/CDC.2011.6161097",

language = "English",

isbn = "9781612848006",

series = "Proceedings of the IEEE Conference on Decision and Control",

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

pages = "7968--7973",

booktitle = "2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011",

address = "United States",

}

Iqbal, S, Edwards, C & Bhatti, AI 2011, Robust feedback linearization using higher order sliding mode observer. in 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011., 6161097, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 7968-7973. https://doi.org/10.1109/CDC.2011.6161097

Robust feedback linearization using higher order sliding mode observer. / Iqbal, S.; Edwards, C.; Bhatti, A. I.
2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc., 2011. p. 7968-7973 6161097 (Proceedings of the IEEE Conference on Decision and Control).

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

TY - GEN

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AU - Iqbal, S.

AU - Edwards, C.

AU - Bhatti, A. I.

PY - 2011

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N2 - A novel robust feedback linearization scheme is proposed in this paper based on a modified robust exact differentiator. The states and drift terms in the system are estimated simultaneously by the observer using back injection of the control effort. The estimated drift term is used in the feedback loop to compensate the disturbances and observed states are used for feedback linearization. Finite time convergence of the complete closed-loop system is proved and thus a form of separation principle is satisfied, i.e., the controller and observer can be separately designed. The design is verified through simulations and by experiments on a DC motor rig.

AB - A novel robust feedback linearization scheme is proposed in this paper based on a modified robust exact differentiator. The states and drift terms in the system are estimated simultaneously by the observer using back injection of the control effort. The estimated drift term is used in the feedback loop to compensate the disturbances and observed states are used for feedback linearization. Finite time convergence of the complete closed-loop system is proved and thus a form of separation principle is satisfied, i.e., the controller and observer can be separately designed. The design is verified through simulations and by experiments on a DC motor rig.

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U2 - 10.1109/CDC.2011.6161097

DO - 10.1109/CDC.2011.6161097

M3 - Conference contribution

AN - SCOPUS:84860663431

SN - 9781612848006

T3 - Proceedings of the IEEE Conference on Decision and Control

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BT - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011

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Iqbal S, Edwards C, Bhatti AI. Robust feedback linearization using higher order sliding mode observer. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc. 2011. p. 7968-7973. 6161097. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2011.6161097

Robust feedback linearization using higher order sliding mode observer

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ASJC Scopus subject areas

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